Deprecate LocalParameterizations

Add [[deprecate]] notices to everything LocalParameterization
related.

Make sure that Ceres can be compiled without triggering
deprecation warnings.

Update the documentation:

a. Add deprecation notices.
b. Document interaction between LocalParameterization and Manifold
   coexisting in the Problem.
c. Add documentation for Manifold(s)

Change-Id: Ie4ad48963c83fded86e533c8c60561af402fbaff

docs/source/nnls_solving.rst

@@ -1,6 +1,7 @@
-
 .. default-domain:: cpp
 
+.. highlight:: c++
+
 .. cpp:namespace:: ceres
 
 .. _chapter-nnls_solving:
@@ -1239,8 +1240,8 @@ elimination group [LiSaad]_.
 
    where :math:`\|\cdot\|_\infty` refers to the max norm, :math:`\Pi`
    is projection onto the bounds constraints and :math:`\boxplus` is
-   Plus operation for the overall local parameterization associated
-   with the parameter vector.
+   Plus operation for the overall manifold associated with the
+   parameter vector.
 
 .. member:: double Solver::Options::parameter_tolerance
 
@@ -2212,7 +2213,7 @@ The three arrays will be:
    Dimension of the tangent space of the problem (or the number of
    columns in the Jacobian for the problem). This is different from
    :member:`Solver::Summary::num_parameters` if a parameter block is
-   associated with a :class:`LocalParameterization`.
+   associated with a :class:`Manifold`.
 
 .. member:: int Solver::Summary::num_residual_blocks
 
@@ -2238,7 +2239,7 @@ The three arrays will be:
    number of columns in the Jacobian for the reduced problem). This is
    different from :member:`Solver::Summary::num_parameters_reduced` if
    a parameter block in the reduced problem is associated with a
-   :class:`LocalParameterization`.
+   :class:`Manifold`.
 
 .. member:: int Solver::Summary::num_residual_blocks_reduced