Cegqi refactor substitutions (#1129)

This refactors the apply substitution mechanism for counterexample-guided quantifier instantiation (CEGQI).

Improvements to the code:

(1) Methods have been added to the TermProperties class that summarize their theory-independent behavior (including "getModifiedTerm", "isBasic" etc.). For now, I have not made a "TermPropertiesArith" class yet since this will require more fundamental refactoring.
(2) The terminology "has_coeff" is replaced "is_non_basic" throughout.
(3) Added the applySubstitutionToLiteral method.
(4) Both applySubstitution and applySubstitutionToLiteral are now private within CegInstantiator. This means that theory-specific instantiators do not need to implement custom ways of applying substitutions (previously the arithmetic instantiator was).
(5) applySubstitutionToLiteral is automatically called on all literals (see line 297 of ceg_instantiator.cpp). This means that BvInstantiator::processAssertion is now called on substituted literals. So for instance if our context contains two literals:
x = bv2, bvmul(x,y) = bv4
Say we are asked to solve for x first, and return the substitution {x -> bv2}, then if we are later asked to solve for y, we will call processAssertion for the literal bvmul(bv2,y)=bv4
(6) LIA-specific information "d_theta" in SolvedForm is encapsulated inside the class (with the understanding that this will be made virtual).

This commit has no impact on quantified LIA / LRA: https://www.starexec.org/starexec/secure/details/job.jsp?id=24480
(see CVC4-092217-cegqiRefactorSubs)

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