CCW.params NamedTuple->Tuple

[Affie]

Close #1564
Close #1513

Also cleanup:

# FIXME deprecate use of (:null,)
  mani = length(Xi)==0 || sfidx==0 ? (:null,) : getManifold(Xi[sfidx])

[codecov]

Codecov Report

Merging #1565 (9bac0c4) into master (40962b7) will increase coverage by 9.50%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master    #1565      +/-   ##
==========================================
+ Coverage   68.17%   77.68%   +9.50%     
==========================================
  Files          70       71       +1     
  Lines        5091     5096       +5     
==========================================
+ Hits         3471     3959     +488     
+ Misses       1620     1137     -483     

Impacted Files	Coverage Δ
src/IncrementalInference.jl	87.50% <ø> (ø)
src/entities/FactorOperationalMemory.jl	100.00% <ø> (ø)
src/NumericalCalculations.jl	92.39% <100.00%> (+1.66%)	⬆️
src/services/CalcFactor.jl	87.78% <100.00%> (+4.82%)	⬆️
src/services/EvalFactor.jl	85.63% <100.00%> (+5.52%)	⬆️
.../Serialization/entities/FluxModelsSerialization.jl	100.00% <0.00%> (ø)
src/FGOSUtils.jl	71.61% <0.00%> (+0.64%)	⬆️
src/CliqueStateMachine.jl	91.22% <0.00%> (+1.05%)	⬆️
src/TreeMessageUtils.jl	85.96% <0.00%> (+1.31%)	⬆️
src/Factors/GenericFunctions.jl	59.72% <0.00%> (+1.38%)	⬆️
... and 24 more

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