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Asdf frame update (#244)

* wcs: update obsgeoloc and obsgeovel to reflect changes in astropy ...

The obsgeoloc and obsgeovel frame fields changed from Quantity objects to
CartesianRepresentation objects in astropy. This commit contains updates
to reflect those changes and reactivate the unit tests. NOTE: astropy's
CartesianRepresentation class currently does not implement equality which
means that the unit tests since they rely on this comparison.

* wcs: implement quantity type and refactor frame to make use of it

* Update FrameType to reflect changes to frame schema wrt quantity ...

The frame schema was updated to use the new quantity tags where
appropriate. This allows the implementation of FrameType to be simplified
since all logic for converting frames is now handled within QuantityType.

* Add ICRS frame and galcen_coord to wcs...

Astropy removed galcen_ra and galcen_dec from galactocentric coordinates
and now uses galcen_coord, which is an ICRS coordinate object. This
commit implements to_tree and from_tree for ICRS coordinate objects. It
also implements new logic for comparing ICRS coordinate objects as part
of our unit tests since ICRS does not provide comparison natively.

* Reflect addition of new property to galactocentric frames...

Astropy added the galcen_v_sun property to galactocentric frames to
represent the velocity of the sun relative to the galactocentric frame.
This commit updates ASDF to reflect this change.

* Test helpers should safely import classes from astropy...

Since our unit tests need to carry out comparisons between certain
classes from astropy that do not actually define equality, we check
for the existence of these classes and manually check for the kind of
equality that we care about. However, certain versions of astropy may
not actually define these classes, so we need to make sure they are
actually available before testing them.

* Allow AsdfType classes to require specific versions of modules...

The AsdfType class already provides a mechanism for requiring specific
modules. However, in certain cases it may be necessary to require a
specific version of a particular module.

* Skip WCS tests if a recent version of astropy is not available

* Improve test coverage for new AsdfType module version checks

* Handle scalars and arrays in Quantity, add more unit tests...

Pushing off support for serializing NDArrays as quantity values for another
commit since it seems to require more work than originally anticipated.

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