* Implement CycleFold in Nova's IVC

(CycleFold: https://eprint.iacr.org/2023/1192)

* CycleFoldChallengeGadget: add points coordinates as bytes

* Apply PR review suggestions

* feat: add TranscriptVar trait

* Update src/transcript/poseidon.rs

Co-authored-by: arnaucube <root@arnaucube.com>

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Co-authored-by: arnaucube <root@arnaucube.com>

* Implement Nova IVC's new & prove_step methods

Implement Nova IVC's new & prove_step methods (without CycleFold part yet)

* transcript.absorb_point err handling, and update C.xy() usage

* add transcript usage to IVC prove, add NovaTranscript trait extending Transcript trait, refactor NIFS.P to allow absorbing in transcript inbetween

* Implement Nova's IVC.V method (without CycleFold part yet)

* clippy lints

* move challenge r computation in-circuit

* reuse computed points with coordinates over CF (non-native) to save constraints in AugmentedFCircuit

(constraint count went down ~6k)

* rm 128 bit constant

* add params to Errors

* Updates from review suggestions. Additionally refactored nova/nifs fold, and rm transcript from nova/IVC.

- Updates from PR suggestions
- Additionally updated:
  - in nova/nifs.rs: reuse folded_committed_instance for verify_folded_instance, computationally is the same, but reusing the same code so avoiding duplication and having an error on one of the two versions.
  - in nova/ivc.rs: remove transcript from IVC (not needed, it uses the RO)

* Implement Nova's NIFS.Verify circuits (with CycleFold)

- Add circuit for NIFS.Verify on the main curve to check the folded `u`
  & `x`
- Add circuit for NIFS.Verify on the CycleFold's auxiliary curve to
  check the folded `cm(E)` & `cm(W)`
- Add transcript.get_challenge_nbits
- Add tests for utils::vec.rs

* replace bls12-377 & bw6-761 by pallas & vesta curves (only affects tests)

We will use pallas & vesta curves (for tests only, the non-tests code
uses generics) for the logic that does not require pairings, and while
Grumpkin is not available
(https://github.com/privacy-scaling-explorations/folding-schemes/issues/12).

* update links to papers to markdown style

- utils::vec module: port a mix of vec utils from nova-study, multifolding-poc and protogalaxy-poc repos
- pedersen.rs: Pedersen commitment module
- other:
  - update FoldingScheme trait interface: rm rng, update internal types naming as agreed in today's call
  - update Cargo.toml dev-dependencies imports, since bn254 - grumpkin is not ready yet, use bls12-377 - bw6-761 curve cycle
  - transcript module: add absorb_point method

* feat: draft traits `FoldingScheme` and `Decider`

Co-authored-by: arnaucube <root@arnaucube.com>

* Add Transcript trait, with PoseidonTranscript impl (#1)

Add also the PoseidonTranscriptVar (gadget).

* Update FoldingScheme trait to take C1 & C2 as params (#2)

* Update FoldingScheme trait to take C1 & C2 as params

Update FoldingScheme trait to take C1 & C2 as params which are used by
the diverse folding schemes as a cycle of curves.

* Add constraint to FoldingScheme C1,C2 fields swap.

Co-authored-by: Han <tinghan0110@gmail.com>

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Co-authored-by: Han <tinghan0110@gmail.com>

* move transcript to it's own mod

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Co-authored-by: han0110 <tinghan0110@gmail.com>