Update interfaces to follow optimal control formula

[ll-nick]

Breaking changes!

This improves some interfaces to resolve two issues:

1. Include the environment model as part of the interface. So far it has only existed on a concept level.
2. Reduce the amount of template parameters and enforce an interface of the verifier via an abstract class.

The main intention behind this refactoring is:
We've always wished getCommand() (the policy of a given behavior) to better follow the optimal control formula

$$u = μ(x(t), t)$$

with command $u$, policy $μ$, time $t$ and state $x(t)$.

Thus, we now changed the interfaces of getCommand(), checkInvocationCondition() etc. to:

Command getCommand(const Time& time, const EnvironmentModel& environmentModel)

It does introduce more boiler plate code. But, by passing the environment model via argument, the interface is more explicit now as of which information the decision-making is based on.

Please check the issue and PR for further details:
#116
#123 (comment)

#major

Closes #116

[ll-nick]

Todo List

Abstract verifiers

• Core library → Use abstract verifier class in core library #118
• Demo → Verifier interface demo #133
• Python bindings → Verifier interface pybinds #130

Include environment model

• Core → Interface Update Core: Add Environment Model #131
• Demo → Interface Update Demo: Add Environment Model #136
• Python bindings → Interface Update Pybinds: Add Environment Model  #135

Tutorial

• Update tutorial docs → Interface Update Tutorial Docs #140
• Rebase tutorial branch → Interface Update Tutorial #141

Linter issues

see #114

• Core → Linter fixes core #138
• Demo → Linter fixes demo #145
• Python bindings → Linter fixes pybindings #146

Release

• Write detailed release notes including mini "migration guide"

[ll-nick]

I added #114 to the todo list here as I suppose that it might also include some breaking changes so maybe it's best to merge all that in one go via this branch.

[orzechow]

This is good to go 🚀

We went though this multiple times in the corresponding sub issues/PRs, docs and tutorials have been updated, this PRs description will serve as release description as well as breaking change notice.