Introduce a base class for local energies

Currently, all implementations of variational problems inherit
from LocalGeodesicFEStiffness, which requires gradient and Hessian
implementations.  However, most of these implementations really
only implement the energy, and leave computations of first and
second derivatives to algorithmic differentiation.  To make
this clearer, this patch introduces an abstract base class
LocalEnergy for all implementations that really only have
an energy.