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Merge #880

880: Global Quantity, Unit, and Measurement r=hgrecco a=crusaderky

This PR addresses several issues I found myself facing when using pint in my own projects.

- I found myself systematically needing to reference UnitRegistry, Quantity, and Unit in sphinx docstrings and typing annotations.
- When prototyping and writing snippet code, I got frequently annoyed by having to typing ``ureg = pint.UnitRegistry()`` every time, even when I was perfectly content with defaults_en.txt (as most novice users will).
-  I found myself needing to access pint._APP_REGISTRY when creating a Quantity in a dask.distributed function.

Changes:
- Define global objects ``pint.Quantity``, ``pint.Unit``, and ``pint.Measurement``. They can be used directly, e.g. ``pint.Quantity(1, "kg")``. They use the global application registry.
- Fix bug where Measurement objects would be accidentally upcast to Quantity upon pickling
- All Exception classes are now accessible from the top-level module (also in intersphinx)
- New function ``pint.get_application_registry``
- Documentation for using ``pint.set_application_registry`` in one's application
- intersphinx users can now reference ``:class:`pint.UnitRegistry` `` instead of the internal implementation module ``:class:`pint.registry.UnitRegistry` ``
- Fixed a wealth of sphinx errors (not all)
- Unit tests for pickling/unpickling custom units through the global registry

Co-authored-by: Guido Imperiale <guido.imperiale@amphorainc.com>
Co-authored-by: Guido Imperiale <crusaderky@gmail.com>
Co-authored-by: Unknown <crusaderky@gmail.com>

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