feat: add reversible transformation API

[AayushSabharwal]

This allows a generic API for reversible model transformations, since we frequently need to perform such operations and reverse them. Recently, we need to selectively reverse some transformations, and hence this design.

[github-actions]

Benchmark Results (Julia vlts)

Time benchmarks

	master	b489560...	master / b489560...
ODEProblem	10.2 ± 0.51 ms	11 ± 0.82 ms	0.924 ± 0.083
init	0.083 ± 0.024 ms	0.0745 ± 0.025 ms	1.11 ± 0.49
large_parameter_init/ODEProblem	0.0329 ± 0.0047 s	0.035 ± 0.0049 s	0.939 ± 0.19
large_parameter_init/init	0.101 ± 0.03 ms	0.0973 ± 0.03 ms	1.03 ± 0.44
mtkcompile	11.3 ± 0.76 ms	11.6 ± 1.2 ms	0.971 ± 0.12
sparse_analytical_jacobian/ODEProblem	31.4 ± 2.6 ms	0.0337 ± 0.0023 s	0.932 ± 0.1
sparse_analytical_jacobian/f_iip	0.07 ± 0 μs	0.08 ± 0.01 μs	0.875 ± 0.11
sparse_analytical_jacobian/f_oop	0.385 ± 0.012 ms	0.398 ± 0.017 ms	0.967 ± 0.051
time_to_load	6 ± 0.11 s	5.87 ± 0.1 s	1.02 ± 0.026

Memory benchmarks

	master	b489560...	master / b489560...
ODEProblem	0.0446 M allocs: 2.95 MB	0.0446 M allocs: 2.95 MB	1
init	0.418 k allocs: 0.0701 MB	0.418 k allocs: 0.0701 MB	1
large_parameter_init/ODEProblem	0.339 M allocs: 12.1 MB	0.339 M allocs: 12.1 MB	1
large_parameter_init/init	0.606 k allocs: 0.173 MB	0.606 k allocs: 0.173 MB	1
mtkcompile	0.0599 M allocs: 3.44 MB	0.0598 M allocs: 3.44 MB	1
sparse_analytical_jacobian/ODEProblem	0.208 M allocs: 8.55 MB	0.208 M allocs: 8.55 MB	1
sparse_analytical_jacobian/f_iip	0 allocs: 0 B	0 allocs: 0 B
sparse_analytical_jacobian/f_oop	0.634 k allocs: 19.6 kB	0.634 k allocs: 19.6 kB	1
time_to_load	0.153 k allocs: 14.5 kB	0.153 k allocs: 14.5 kB	1

[github-actions]

Benchmark Results (Julia v1)

Time benchmarks

	master	b489560...	master / b489560...
ODEProblem	11.1 ± 0.26 ms	10.4 ± 0.26 ms	1.07 ± 0.037
init	0.0494 ± 0.016 ms	0.0557 ± 0.015 ms	0.887 ± 0.36
large_parameter_init/ODEProblem	0.0331 ± 0.0053 s	0.0317 ± 0.0051 s	1.04 ± 0.24
large_parameter_init/init	0.0781 ± 0.035 ms	0.0807 ± 0.04 ms	0.968 ± 0.65
mtkcompile	9.73 ± 0.2 ms	8.79 ± 0.16 ms	1.11 ± 0.03
sparse_analytical_jacobian/ODEProblem	26.5 ± 3.2 ms	26 ± 3 ms	1.02 ± 0.17
sparse_analytical_jacobian/f_iip	0.091 ± 0.01 μs	0.081 ± 0.01 μs	1.12 ± 0.19
sparse_analytical_jacobian/f_oop	0.118 ± 0.012 ms	0.118 ± 0.012 ms	0.995 ± 0.15
time_to_load	5.58 ± 0.028 s	5.62 ± 0.028 s	0.993 ± 0.007

Memory benchmarks

	master	b489560...	master / b489560...
ODEProblem	0.0501 M allocs: 2.96 MB	0.0501 M allocs: 2.96 MB	1
init	0.366 k allocs: 0.0457 MB	0.366 k allocs: 0.0457 MB	1
large_parameter_init/ODEProblem	0.36 M allocs: 13.5 MB	0.354 M allocs: 13.3 MB	1.02
large_parameter_init/init	0.8 k allocs: 0.152 MB	0.8 k allocs: 0.152 MB	1
mtkcompile	0.056 M allocs: 2.75 MB	0.056 M allocs: 2.75 MB	1
sparse_analytical_jacobian/ODEProblem	0.2 M allocs: 7.62 MB	0.2 M allocs: 7.62 MB	1
sparse_analytical_jacobian/f_iip	0 allocs: 0 B	0 allocs: 0 B
sparse_analytical_jacobian/f_oop	0.848 k allocs: 27 kB	0.848 k allocs: 27 kB	1
time_to_load	0.145 k allocs: 11 kB	0.145 k allocs: 11 kB	1

[AayushSabharwal]

The enzyme failure in SciMLSensitivity/Core8 does not reproduce locally, despite reproducing across two CI runs. It will be investigated locally and marked as broken in the meantime.