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feat: complete folding prover and verifier for ultra instances (#3419)
Closes AztecProtocol/barretenberg#781 Closes AztecProtocol/barretenberg#689 Closes AztecProtocol/barretenberg#690 Closes AztecProtocol/barretenberg#802 This PR provides the first full version of folding prover and verifiers for Ultra instances and provides the first full folding test. The protogalaxy interfaces have been slightly reworked so the prover now returns a complete new relaxed `Instance` and a folding proof. While the verifier receives the folding proof and returns a boolean dependent on whether the pubic data from the relaxed instance, sent by the prover, is the same as the data computed by the folding verifier.
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