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Reorganize, merge, and add unit tests for utility functions. (#304)

* Reorganize and merge utility functions.

- ygen's yang_helpers.go is split and mostly moved to util package.
- ytype's duplicate util functions is merged into util package.
- various util package re-organizations.
- Capitalization of names due to exporting.
- Couple tests are enhanced to test some newly merged utility functions.

* Add unit tests to several utility functions

* Add unit tests for resolving leafref paths with predicates

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