Unify IPA/KZG interfaces

[codygunton]

From #31 (review): methods should be added that batch prove and batch verify multiple polynomial commitments.

[adr1anh]

For now, we don't need batching since that can be handled by the prover as a previous step. (In a similar way batching is handled by Gemini).

If we want to use IPA as a drop in replacement for KZG, then we only need to open a single polynomial since Shplonk handles batching.

However, it would be good to accept the OpeningClaim type as input to unify the interface with KZG.

[maramihali]

duplicate of #236

[maramihali]

closed by #445