Added substitute_query() function

[jesper-friis]

Description

Added a substitute_query() function to make it easier to build safe SPARQL interfaces.

Type of change

• Bug fix and code cleanup
• New feature
• Documentation update
• Testing

Checklist for the reviewer

This checklist should be used as a help for the reviewer.

• Is the change limited to one issue?
• Does this PR close the issue?
• Is the code easy to read and understand?
• Do all new feature have an accompanying new test?
• Has the documentation been updated as necessary?
• Is the code properly tested?

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 83.86%. Comparing base (570a9bb) to head (e87473f).
⚠️ Report is 1 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #434      +/-   ##
==========================================
+ Coverage   83.74%   83.86%   +0.12%     
==========================================
  Files          29       29              
  Lines        4084     4109      +25     
==========================================
+ Hits         3420     3446      +26     
+ Misses        664      663       -1     

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