deprecate default tilematrixset

[vincentsarago]

ref #801

This PR removes non-prefixed /tileMatrixSetId endpoints for /tilejson.json, /tiles, /map and /WMTSCapabilities.xml, which now makes tileMatrixSetId a required path parameter

# Before
/cog/tiles/{z}/{x}/{y} 
/cog/tilejson.json
/cog/map
/cog/WMTSCapabilities.xml

# Now
/cog/tiles/WebMercatorQuad/{z}/{x}/{y} 
/cog/WebMercatorQuad/tilejson.json
/cog/WebMercatorQuad/map
/cog/WebMercatorQuad/WMTSCapabilities.xml