The old style has been deprecated for a long time, and is not
supported by dune-fufem anymore.

(In particular, the code discretizationerror.hh now requires
functions to satisfy the dune-functions function interface.)

In the wake of this, compute-disc-error.cc gets a number
of changes.  Let's hope I didn't screw up anything.

There are two important changes:  First of all, the new class implements
the `dune-functions` interface rather than the deprecated one based
on inheritance from `VirtualGridViewFunction`. Secondly, the new class
does not hard-wire geodesic interpolation anymore.  Rather, you can
give it interpolation classes which then govern how interpolation is done.

This change was long overdue.  It was now needed to make
gradient-flow.cc compile with the post 2.9 version of dune-fufem again.

In particular:
- Use the CosseratVTKWriter also for MIXED_SPACE = 1, only print out the deformation though
- Use a SubsamplingVTKWriter only for dim==gridDim==3

Use the grid function provided by the gmsh4-reader as the stressfreegridfunction in nonplanarcosseratshellenergy

The multiplication by operator* between a ScaledIdentityMatrix
and a FieldMatrix only got introduced in Dune 2.9.  Therefore,
avoid it if we are building with earlier versions of Dune.

To build these combinations with the CI-system, install foamgrid for the tests with parmg, vtk, curvedgeometry and curvedgrid

This is needed to actually compare the 3D-model with the 2D-approximation

Deprecate the call to energy with a RigidBodyMotion in cosseratenergystiffness and in nonplanarcosseratenergystiffness - this is actually duplicate code!

They can't be removed yet because they are still used in tests though!

Correct the stopping criterion in the Riemannian-TR-Solver, Riemannian-PN-Solver and MixedRiemannian-TR-Solver

Do not stop if the correction gets small because the trust region radius gets small or the regularization parameter gets large

In particular:
* add flag "useAlternativeEnergyWCoss" to NonplanarCosseratShellEnergy
* if the flag set to true, the model from the paper "Alternative derivation of the higher-order constitudtive model for six-parameter elastic shells", equations (119) and (126) is used

In particular:
* Forward declaring ProductManifold in the `impl` namespace
  is not a good idea.
* Add missing headers

targetspacetest.cc is extended to test for the first issue.

Using FieldMatrix<,1,1> for scalars has been the standard Dune way
for a long time, but since dune 2.7 using scalars directly works
just as well.

They are getting removed now for good after the release of
dune-fufem 2.9.  The code that replaces them has been there
for quite a while, and therefore we can simply use it
without having to worry about compatibility with older
dune-fufem versions.

This fixed the following error when building with GCC 12.1.0-8 (Debian):

```
/src/dune-gfe/dune/gfe/rotation.hh:225:42: error: invalid declarator before 'axis'
  225 |     Rotation<T,3>(Dune::FieldVector<T,3> axis, T angle)
      |                                          ^~~~
/src/dune-gfe/dune/gfe/rotation.hh:225:41: error: expected ')' before 'axis'
  225 |     Rotation<T,3>(Dune::FieldVector<T,3> axis, T angle)
      |                  ~                      ^~~~~
      |                                         )
```

Only include the multiplication of a ScaledIdentityMatrix with another FieldMatrix if dune common is older or equal 2.8

This triggers bugs in the Rotation and RigidBodyMotion classes.

In particular, it triggers what Jonathan Youett fixed in the
never-merged merge request

  !2

These bugs are fixed in this commit, too:
* The RigidBodyMotion class gets a `log` method
* The Rotation<3>::log method now returns EmbeddedTangentVector
  instead of TangentVector.