Issue 1477 sensitivities for solvers

[martinjrobins]

Description

Adds functionality to calculate sensitivities. Specifically:

• pybamm.base_solver.solve function can take a list of input parameters to calculate the sensitivities of the solution with respect to. Or it can be True to calculate the sensitivities for all input parameters. If this arg changes between different calls to solve, then the model is re-setup.
• If model.convert_to_format = 'casadi', then sensitivities will be calculated by solving the explicit forward sensitivity equations. Any solver can be used, except for the IDKLU solver which uses CVODES forward sensitivity methods, see next item
• For model.convert_to_format = 'casadi' or model.convert_to_format = 'jax', the IDKLU solver can use the CVODES package to calculate sensitivities.

Fixes #1477

Type of change

Please add a line in the relevant section of CHANGELOG.md to document the change (include PR #) - note reverse order of PR #s. If necessary, also add to the list of breaking changes.

• New feature (non-breaking change which adds functionality)

Key checklist:

• No style issues: $ flake8
• All tests pass: $ python run-tests.py --unit
• The documentation builds: $ cd docs and then $ make clean; make html

You can run all three at once, using $ python run-tests.py --quick.

Further checks:

• Code is commented, particularly in hard-to-understand areas
• Tests added that prove fix is effective or that feature works

[valentinsulzer]

THanks for taking this on @martinjrobins ! Just a few comments

[valentinsulzer]

Looks good! Will just need to merge develop after #1596 to fix the github actions