Protogalaxy based IVC (#123)

* Parallelize vector and matrix operations

* Implement convenient methods for `NonNativeAffineVar`

* Return `L_X_evals` and intermediate `phi_star`s from ProtoGalaxy prover.

These values will be used as hints to the augmented circuit

* Correctly use number of variables, number of constraints, and `t`

* Fix the size of `F_coeffs` and `K_coeffs` for in-circuit consistency

* Improve prover's performance

* Make `prepare_inputs` generic

* Remove redundant parameters in verifier

* Move `eval_f` to arith

* `u` is unnecessary in ProtoGalaxy

* Convert `RelaxedR1CS` to a trait that can be used in both Nova and ProtoGalaxy

* Implement several traits for ProtoGalaxy

* Move `FCircuit` impls to `utils.rs` and add `DummyCircuit`

* `AugmentedFCircuit` and ProtoGalaxy-based IVC

* Add explanations about IVC prover and in-circuit operations

* Avoid using unstable features

* Rename `PROTOGALAXY` to `PG` to make clippy happy

* Fix merge conflicts in `RelaxedR1CS::sample`

* Fix merge conflicts in `CycleFoldCircuit`

* Swap `m` and `n` for protogalaxy

* Add `#[cfg(test)]` to test-only util circuits

* Prefer unit struct over empty struct

* Add documents to `AugmentedFCircuit` for ProtoGalaxy

* Fix the names for CycleFold cricuits in ProtoGalaxy

* Fix usize conversion when targeting wasm

* Restrict the visibility of fields in `AugmentedFCircuit` to `pub(super)`

* Make CycleFold circuits and configs public

* Add docs for `ProverParams` and `VerifierParams`

* Refactor `pow_i`

* Fix imports

* Remove lint reasons

* Fix type inference

folding-schemes/src/folding/nova/decider_eth.rs

@@ -342,7 +342,7 @@ pub mod tests {
     use crate::folding::nova::{
         PreprocessorParam, ProverParams as NovaProverParams, VerifierParams as NovaVerifierParams,
     };
-    use crate::frontend::tests::CubicFCircuit;
+    use crate::frontend::utils::CubicFCircuit;
     use crate::transcript::poseidon::poseidon_canonical_config;
 
     #[test]