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Improved class read()/write() definitions

Duncan Macleod requested to merge github/fork/duncanmmacleod/read-write-definitions into master

This PR cleans up the definitions of read() and write() for all GWpy-defined classes. No longer do they refer to the factory methods from gwpy.io.__init__, calling instead to astropy.io.registry.read/write directly. This should make the definitions more obvious for people looking at the code.

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