Refactor and update QR Op

[jessegrabowski]

Description

This PR updates the QRFull Op, adding static shape checking, infer_shape, and destroy_map. It also optimizes the perform method for the C backend, and tries to improve the gradient graph by checking static shapes (to avoid an ifelse).

I renamed it to QR, because I don't know what was Full about the old one. I also moved it from the numpy implementation to scipy, which gives us all the usual benefits (inplace, etc). I also went ahead and unpacked the scipy wrapper and used the LAPACK functions directly. This will give us better error handling (that is to say, none -- it should eventually return a matrix of NaN on failure) and some performance boost by caching workspace requirements.

Still a WIP, because it breaks everything by moving QR from nlinalg to slinalg. I thought about using this as an opportunity to finally eliminate this distinction and go to a more logical organization (linalg/decomposition/qr.py), but then decided against it for now. Needs discussion.

Related Issue

• Closes Add infer_shape method to QRFull #1511
• Related to #

Checklist

• Checked that the pre-commit linting/style checks pass
• Included tests that prove the fix is effective or that the new feature works
• Added necessary documentation (docstrings and/or example notebooks)
• If you are a pro: each commit corresponds to a relevant logical change

Type of change

• New feature / enhancement
• Bug fix
• Documentation
• Maintenance
• Other (please specify):

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📚 Documentation preview 📚: https://pytensor--1518.org.readthedocs.build/en/1518/