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refac: refactor transcript and organize commitment schemes
This commit solves 2 problems. 1. `Transcript` was only able to handle field or curve point. Since proof and hash algorithm can take arbitrary types, this limitation is overcame. 2. The interfaces of `VectorCommitmentScheme` and `UnivariatePolynomialCommitmentScheme` are organized. When committing, the cases are divided into 3 cases. - non interactive: e.g, SHPlonk - non interactive with random: e.g, Pedersen and MerkleTree - interactive: e.g, FRI When opening, the cases are divided into 2 cases. - non interactive: e.g, MerkleTree - interactive: e.g, SHPlonk and FRI
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