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gh-280: add `mypy` to codebase (#359)

Adding `mypy` to a pre-existing codebase is never easy. I initially
attempted this in #308, but have since split this up into separate
issues:
- [x] #347
- [x] #356
- [ ] #358

In this PR, `mypy` is added but in order for CI to pass, the `# type:
ignore[]` syntax is used throughout. I didn't want to tackle these here
too (see #308) as it gets quite messy.

One thing I have done (following #356) is change every empty
`npt.NDArray` to `npt.NDArray[typing.Any]` (see #330), as this actually
results in fewer errors than leaving them all blank. Ideally, we'd like
to fill in as many of the `typing.Any` as possible - they're a bit
useless by themselves. However, that is not the priority for now. Plus,
I expect typing to change when #67 is tackled.

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