Switch XML parser to pugixml; one less runtime dependency and one less blocker to WASM via emscripten.

* Support for exporting models with parameters optimized in BluePyOpt to a mixed JSON/ACC-format that can be loaded in Arbor (with faithful axon-replacement modelling)
* A tutorial and examples on how to run simulations with such models including a neocortical layer-5 pyramidal cell exported from BluePyOpt
* Support for using Arbor as a backend for single cell optimization in BluePyOpt

* Add segment tree editing: join and split
* Add equivalence and equality on trees
* Apply isometries to trees
* Add raw loaders to NeuroLucida ASC and SWC that return segment trees instead of morphologies

Enable pyArborio input routines to consume Stream objects in addition to files by name.
- NML
- NeuroLucida ASC
- SWC

Closes #1459 

PyArbor I/O routines now try to cast `filename` arguments to a string.
This allows passing `pathlib.Path` objects.

Example
```py
here = Path(__file__).parent
cat = A.load_catalogue(here / 'local-catalogue.so')
```

Extend the `pwlin_place` interface to find the location of a morphology that is closest to a 3d coordinate.
* extend `arb::pwlin_place` interface
* python wrapper
* unit tests
* documentation

Addresses a feature request by @Helveg that I don't think ever had a ticket assigned to it.

Fixes #1661 and #1108.

1. All s-exp parsing has migrated to `arborio`
2. CV policies can now be read from string as per #1334. This is needed for the GUI project.
2. No longer can `arb::locset` and `arb::region` be constructed from mere strings
2. We have `arborio::literals` to construct `region`s, `locset`s, and `cv_policy`s in the form of `_rg`, `_ls`, and `_cvp`.
3. The `_lab` suffix now constructs an object that converts to `named` morphologies, rather than a simple string.
4. Constructors of `region` and `locset` are now properly guarded
5. Consequently, a lot of missing inheritance from `region_tag` and `locset_tag` was retrofitted.

Closes #1334 
Closes #1419 

* Update URLs to arbor-sim.org
* update badge links

* update and simplify the `load_swc_neuron` reader to match the simplified and more correct interpretation in NEURON 8
* update the documentation on the interpretation, and add details about how it still differs from the neuromorpho descriptions. 
* update unit tests to reflect new interpretation
* add a unit test that reproduces a complex case from the NEURON test suite.
* remove the `load_swc_allen` C++ and Python calls
* add links to NeuroMorpho site in the documention

Fixes #1445.

* Adds a `neuroml_options` namespace with enum for use with `neuroml::morphology(...)` and `neuroml::cell_morphology(...)`.
* Add support for a 'spherical' root segment with option `neuroml_options;:allow_spherical_root`; a zero-length root segment with identical proximal and distal radius will then be converted into an area-equivalent cylinder in the resultant morphology.
* Amend `place_pwlin::all_at` so that locations on a zero-length segment with different radii at the endpoint will give an mpoint for either end.
* Add `allow_spherical_root` boolean optional parameter to Python NeuroML morphology methods.
* Update docs; C++ unit tests.

* Add `nml_` prefix to NeuroML-related classes in arborio.
* Separate `arborio/xmlwrap` from NeuroML exceptions.
* Put xmlwrap functionality in its own namespace.
* Have xmlwrap property access errors returned by util::expected, so that the corresponding NeuroML exceptions are strictly the
responsibility of the NeuroML parsing code.
* Rename NeuroML implementation and support sources and headers.
* Place implementation classes for Neurolucida ASC parsing in an anonymous namespace.

Fixes #1441.

Basic support for reading morphologies from Neurolucida ASCII (.asc) files.

Added to the arborio C++ library, and wrapped similarly to the other arborio features in Python.

Fixes #1429

* Move contents of `arbornml` to to `arborio` 
* `arborio` will be built with NeuroML2 morphology support if `ARB_CMAKE_NEUROML` is set. 
* Wrap `arborio::neuroml` and `arborio::morphology_data` for pyarb.
* Add documentation.
* add `neuroml` flag to `setup.py`

Fixes #1256
Fixes #1234

* Add 2 new examples to `python/examples` and their corresponding tutorials in the docs. 
    1. `single_cell_detailed.py` : a slightly more complex example using `single_cell_model`
    2. `single_cell_detailed_recipe.py`: equivalent to `single_cell_detailed.py` but using a recipe. 
* Change `load_swc`-> `load_swc_arbor` for consistency.
* Run Sphinx with specified PYTHON_EXECUTABLE.
* Set PYTHONPATH env var in doc/CMakeLists.txt, such that it propagates correctly, including locally.
* Build pyarb BEFORE html such that docs build can import arbor in Github Actions script.

Wrap place_pwlin interface to allow querying rich geometry information from cell morphologies.

* Add Python bindings for the `place_pwlin` and `isometry` classes.
* Add equality test for Python `mpoint`.
* Add unit tests for new Python interfaces.
* Split C++ API morphology documentation into its own file.
* Add C++ API and Python API documentation for `place_pwlin` and `isometry`.

Major changes in Python library and documentation:

* Add global state (immutable after initialization) for the Python module that
  manages the mapping between probe metadata types and the method by which the
  corresponding [sample data can be collected and presented as Python objects.
  This is necessary for decoupling the implementation of the simulation wrapper
  from that of the various cable cell probe types.

* Wrap each of the C++ cable cell probe types with a Python function that
  returns a `probe_info` object.

* Add code for converting and accumulating C++ probe metadata and sample
  data, registered in the module global state against the metadata type info.

* Make the `arbor.simulator` object responsible for recording all spike and
  sample data, with corresponding new methods.

* Use NumPy arrays and structured datatypes for returning spike and
  sample data.

* Place Python schedule proxies under an abstract interface so that consumers
  of the proxies can be made generic over schedule types.

* Add unit tests for the `arbor.simulator` class and its new functionality,
  including distributed spike collection.

* Rework all Python API documentation concerning probes, sampling, and spike
  recording; add information on newly exposed cable cell probe addresses.

* Add new python example `single_cell_recipe.py` which is a generic recipe
  version of `single_cell_model.py`.

* Adjust other code in the wrapper and examples to accommodate these changes.

Minor changes in Python library:

* Add equality tests for `arbor.location` and `arbor.cable` Python classes.

* Use the `py::` namespace shorthand more often in the Python wrapping sources.

* Add an implicit conversion for a pair of numbers to `arbor.cell_member`, so
  that e.g. probe ids can be specified simply as `(gid, index)`.

* Add an implicit conversion from a tuple to `arbor.mpoint` so that a
  morphological point can be specified simply as `(x, y, z, radius)`.

* Modify the interface to `arbor.regular_schedule` so that the overloads
  correspond more closely to the C++ API. In particular,
  `arbor.regular_schedule(dt)` now describes a schedule with times 0, dt, 2*dt,
  etc.

Minor changes in C++ library:

* Change test in FVM lowered cell implementation and exception message for
  `bad_source_description`: assert number of detectors is exactly the number
  of sources promised by the recipe.

* Add comment describing `probe_metadata` object in `sampling.hpp` which
  asserts that the type and value of probe-specific metadata completely
  determines the correct interpretation of sampled data provided to a callback.

* Return `arb::morphology` from `load_swc_xxx` methods for consistency with the NeuroML interface. 
* Fix unit tests.
* Fix documentation

* Remove blank line from `ball_and_stick.swc` 
* Mention that blank lines in SWC files indicate end of data.
* Check for trailing data after parsing in the python interface.
* Leave stream in good state if `parse_swc` encounters an empty line indicating end of data.

* Rename `as_segment_tree` to `load_swc_arbor`.
* Remove `swc_mode`: `sort_and_validate_swc` now performs the `relaxed` checks by default, `load_swc_arbor` performs the `strict` checks. 
* Change `load_swc_xxx` to only accept `swc_data` as an argument
* Remove default constructor for `swc_data` and enforce validation of SWC records via `sort_and_validate_swc` at construction.
* Add fixes for docs and unit tests.

* Minor output formatting fix for `swc_record`.
* Modify the Python `load_swc_allen` implementation to cope with SWC
record ids not necessarily being contiguous, and with SWC record parent
ids corresponding to record ids, not 0-based indices.

* Simplify scanning of SWC records.
* `parse_swc` now retains metadata read from SWC comments.
* `parse_swc` is given two modes, relaxed and strict. Strict mode enforces contiguous record numbering and rejects SWC that looks like it has a single-point soma.
* Subtype `swc_error` according to error mode.
* Remove `point` class and corresponding unit tests.
* Add a RAII stream formatting flag saver, used in SWC record output operator.
* Replace included 1-point soma SWC example with a regular SWC from NeuroMorpho.

This PR adds a bunch of high-level docs for concepts related to single cell models.
  * morphologies
  * labels (region and locset expressions)
  * mechanisms
  * cable cells

It adds some python scripts to the `doc` path, which are called during documentation building to generate images of cell morphologies, regions and locsets that are generated in a separate script that uses the Arbor Python API.

The docs are not complete: the cable cell and mechanism docs are unfinished, and the tutorial section needs to build on these concepts to give more detailed step by step examples.

* add parse_swc_allen method

* small fixes and clean up

* add test for incomplete branches and make error messages more consistent

* add extra swc assertion, and remove single sample special case

* Remove spherical root/soma from morphology representations and logic.
* Replace `sample_tree` with `segment_tree`, which represents sample points in pairs and allows the representation of detached branches and cable segments.
* Remove sample point properties and predicates.
* Remove `cv_policy_flag::single_root_cv` as somata with a single attached dendrite will have a representation in the morphology of a single branch.
* Remove `arb::math::{volume/area}_sphere`, which are no longer being used.
* Remove spherical root special cases from `embed_pwlin` and `place_pwlin` objects.
* Add textual representation of `mnpos` in morphology exception text.
* Rename `sample_tree_from_swc` to `segement_tree_from_swc` and remove any special casing for one point somata.
* Remove `msample` and `mbranch` types.
* Update unit tests and python wrapper to reflect the changes.

Update core library:
* support derivation of named mechanisms in catalogue from a string description of the parent.
* fix bug in radois_ge region expression that was finding region_lt.
* fix test for radius_ge region expression

Add support for mechanism, global properties and catalogue shenanigans to python wrapper

Add a `restrict` locset expression type that returns all locations in a locset that are in a specified region.

Also allow region and locset names with hyphens.

Fixes #1031 
Fixes #1032 

Split Python wrapper changes and tutorial example from the Python documentation branch.

- extend `append` methods for `sample_tree` Python wrapper to accommodate a flatter representation of samples.
- add a tutorial example (will make more sense as part of larger python docs)

Use locset names to set probe sites in single cell model.

1. Extend C++ cable_cell interface to provide a concrete list of locations associated with a locset on the cell.
2. Extend Python single_cell_model to allow placement of probes on locsets.
3. Remove "debug" output in Python ring example.

The single cell model maintains a trace callback for each probe location, and needs to know the explicit locations before starting the simulation. The first step is required to enumerate and record the locations associated with a locset when attaching probes.

Open issues: 

1. The extension to `cable_cell` won't sufficiently support locsets that rely on random number generators with global seeds (it would require passing additional meta data required to fully instantiate the locset)
2. Enhancing the probe recipe interface to be able to associate one `probe_id` with all locations in a locset (the number of which is not specified at the time the `probe_id` is created) would support the interface implemented for the `single_cell_model`.

Note: The richer interface on the C++ side will be implemented in time (see #957).

A big update that wraps over 90% of the public C++ API, with enough functionality to let Python users to perform useful modelling.

Key features
- wrapping of cable cell functionality
  - user-defined explicit compartmentalisation not supported
- `single_cell_model` abstraction unique to the Python wrapper that simplifies developing and testing single cell models
- one-dimensional cell builder for Python wrapper that simplfies building cells that 
  - in and of itself limited in scope, but a very useful example of mapping a richer morphology builder onto `sample_tree`s.
- parsing of region and location expressions from strings
  - implements a generic s-expression parser that we can use for other purposes later

Adds

* to `recipe.cpp`: 
`num_probes` and `get_probe` with helper function `cable_probe(kind, id, location)`
* `sample.cpp`: 
`sample` type with attributes `time` and `value`; a `sampler` with `samples()` and `clear()` and helper functions `attach_sampler(sim, dt)` for adding all probes as well as `attach_sampler(sim, dt, probe_id)` for adding one probe
* `morphology.cpp`: 
`location` as `arb::mlocation` with `branch` and `position` 
* corresponding docs and example
* update to new cable cell semantics in c++ validation test

fixes #762