This is needed by improving PCS interface.

This commit solves 2 problems.

1. `Transcript` was only able to handle field or curve point.
   Since proof and hash algorithm can take arbitrary types, this limitation is
   overcame.

2. The interfaces of `VectorCommitmentScheme` and
   `UnivariatePolynomialCommitmentScheme` are organized.

   When committing, the cases are divided into 3 cases.

   - non interactive: e.g, SHPlonk, MerkleTree
   - non interactive with random: e.g, Pedersen
   - interactive: e.g, FRI

  When opening, the cases are divided into 2 cases.

  - non interactive: e.g, MerkleTree
  - interactive: e.g, SHPlonk and FRI

  When verifying, the cases are divided into 2 cases.

  - both committing and opening is non interactive: e.g, MerkleTree
  - either committing or opening is interative: e.g, SHPlonk and FRI