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Merge rust-bitcoin/rust-bitcoin#3358: Add Xpriv::to_xpub and improve related method names

<a class=hub.com/rust-bitcoin/rust-bitcoin/commit/<a class="double-link" href="https://git"><a class=hub.com/rust-bitcoin/rust-bitcoin/commit/e215a39dba173cdc616ab63b16a3eb8e02ac18ee">e215a39db<a href="https://github.com/rust-bitcoin/rust-bitcoin/commit/0b8c45ff8ed41ec4f27e947f08200ae9cd7c21b5"> Improve documentation of Xpub::from_xpriv (Jiri Jakes)
<a class="double-link" href="https://github.com/rust-bitcoin/rust-bitcoin/commit/0dcba9838250bb285d6cf096cb742bd1f31b309a">0dcba9838</a><a href="https://github.com/rust-bitcoin/rust-bitcoin/commit/0b8c45ff8ed41ec4f27e947f08200ae9cd7c21b5"> Add Xpriv::to_xpub (Jiri Jakes)
</a><a class="double-link" href="https://github.com/rust-bitcoin/rust-bitcoin/commit/5a9341bfc5bbc9ebac730e7415e7d1c34d014947">5a9341bfc</a> Improve naming of methods on Xpub and Xpriv (Jiri Jakes)

Pull request description:

  Adds `Xpriv::to_xpub` and makes naming of methods related to extended and non-extended keys on `Xpub` and `Xpriv` consistent and easier to discover:

    - if method takes or returns extended key, its name uses `xpriv` or `xpub`
    - if method takes or returns non-extended key, its name uses `public_key` or `private_key`

  Previous naming of the methods was confusing and unclear and this PR deprecates them.

  Closes #3327.

  ### Notes for reviewers

    - `xpriv` and `xpub` could be without `x`, I opted for this version to remove any ambiguity
    - also considered `raw` or similar name (as suggested) for methods with non-extended keys, however `raw` is usually not used in this context and `to_public_key` vs. `to_x_only_public_key` did not look alright with any other name
    - if splitting this PR into two would be desirable, please let me know
    - is there a reason why `ckd_priv` is private and `ckd_pub` is public?

ACKs for top commit:
  apoelstra:
    ACK e215a39dba173cdc616ab63b16a3eb8e02ac18ee successfully ran local tests
  tcharding:
    ACK e215a39dba173cdc616ab63b16a3eb8e02ac18ee

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