[IBC] Implement ICS-23 allowing for the verification of SMT proofs

[h5law]

Objective

Implement ICS-23 (vector commitments) including the serialisable data types that will allow for the proof generation and verification of membership/non-membership proofs based on elements in the IBC stores.

The implementation of ICS-23 should utilise cosmos/ics23 and the types it defines to carry out verification of serialisable proofs without the need for the underlying tree structure.

Origin Document

Issue #794

Goals

• Integrate cosmos/ics23 proof verification into Pocket V1s IBC module
• Create helper functions to convert SparseMerkleProof types into the relevent cosmos/ics23 types

Deliverable

• Implement ICS-23 fully with its various methods and types
  • Utilise cosmos/ics23 where possible
• Create helper functions to convert SparseMerkleProof objects into the relevant cosmos/ics23 types
• Add unit tests covering this functionality

Non-goals / Non-deliverables

• Change any existing SMT proof logic

General issue deliverables

• Update the appropriate CHANGELOG(s)
• Update any relevant local/global README(s)
• Update relevant source code tree explanations
• Add or update any relevant or supporting mermaid diagrams

Testing Methodology

• Task specific tests or benchmarks: make ...
• New tests or benchmarks: make ...
• All tests: make test_all
• LocalNet: verify a LocalNet is still functioning correctly by following the instructions at docs/development/README.md
• k8s LocalNet: verify a k8s LocalNet is still functioning correctly by following the instructions here

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Creator: @h5law
Co-Owners: @h5law