feat: add trait and Poseidon implementation of permutation and sponge

[tsunrise]

We plan to put implementations to #81. DO NOT MERGE THIS

Summary

Add Poseidon implementation of permutation, sponge, and duplex.

Details

• Add PseudorandomPermutation trait and its Poseidon Implementation.
• Hasher::untruncated now uses permute method.
• breaking changes: parameter generation code is moved to poseidon::parameter module
• Add crypto primitives: sponge, duplex, and duplex encryption

Closes: #99

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• Linked to an issue with discussion and accepted design OR have an explanation in the PR that describes this work.
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[tsunrise]

@bhgomes When you have time, can you do a quick sanity check on the APIs of permutation and poseidon implementation?

[tsunrise]

We plan to put implementations to #81. DO NOT MERGE THIS

[tsunrise]

implementation in #81 works better imo, close this for now