SpiceyPy 3.1.0 release

- added irfnam, irfnum, irfrot, irftrn
- added kpsolv, kepleq
- better exceptions, many hundred spice toolkit defined exceptions
- copy button to docs codeblocks
- added CSPICE_SRC_DRI envvar override to specify cspice src directory
during install
- added CSPICE_SHARED_LIB envvar override to specify
cspice.so/.dll/.dylib during install

- switch to codecov for code coverage
- various support type changes
- renamed getspice.py to get_spice.py

- fixed missing doc strings for callbacks

- coveralls
- test cmd class in setup.py
- direct references to deprecated numpy matrix class

CHANGELOG.md

@@ -4,7 +4,7 @@ All notable changes to SpiceyPy will be documented here
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project tries to adhere to [Semantic Versioning](http://semver.org/).
 
-## [3.1.0] - 2020-05-27
+## [3.1.0] - 2020-05-25
 ### Added
 - added irfnam, irfnum, irfrot, irftrn
 - added kpsolv, kepleq