Merkle Tree v3 & Update Poseidon

[tsunrise]

🌲 Merkle Tree V3 & Poseidon Refactor

Part of the PR follows the proposal #58, which adds more functionality to merkle tree.

• Merkle tree no longer requires hashes to input and output bytes.
• User can specify how to transition from leaf hash layer to inner hash layer
• TwoToOneCRH trait requires a compress function, which takes two Output and outputs an Output.
• Add tracing for merkle tree constraints for easier debug
• Refactor Poseidon to match ark_sponge

Progress

• [x] Refactor CRH API and CRHGadget API so that CRH does not necessarily takes bytes as input
• [x] Refactor all implementations of CRH to follow the updated API
• [x] Refactor merkle tree native code.
• [x] Refactor merkle tree constraints code.

closes: #57 closes: #58

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• [x] Targeted PR against correct branch (main)
• [x] Linked to Github issue with discussion and accepted design OR have an explanation in the PR that describes this work.
• [x] Wrote unit tests
• [x] Updated relevant documentation in the code
• [x] Added a relevant changelog entry to the Pending section in CHANGELOG.md
• [x] Re-reviewed Files changed in the Github PR explorer