Relayer CLIs for client update message

[adizere]

Summary

Implement the command:

• relayer tx raw update-client <to-chain-B> <chain-A> <client-id-A> -h <A-height>
  • updates the client of chain-A with id client-id-A installed on chain to-chain-B with the header/consensus state at height A-height
    - Note: if -h is not specified, or 0, the latest header from local light client for chain-A should be used
  • detailed:
    - sends request to local relayer light client for chain-A to retrieve header header_A for A-height or latest
    - sends a MsgUpdateClient to chain-B with:

    client_id = client-id-A,
    header=header_A,
    signer: get_account(chain-B),

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[ancazamfir]

A few dependencies for this one: #47 (almost done), #336 and informalsystems/tendermint-rs#634
Moving to v0.0.6