qutech / qupulse / 1562 / 2

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Ensuring nice behavior of substitutions in expressions in integral() method of PulseTemplates.

- added function substitute() in sympy and subs() in ExpressionScalar which symply wrap calls to sympy.Expr.subs but rename namespaced parameters
- adapted integral() methods in PulseTemplates to accomodoate for those changes
- added tests for namespaced parameters in integral() methods for PulseTemplates

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