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Improved filtering definitions and parsing

Duncan Macleod requested to merge github/fork/duncanmmacleod/filtering-restructure into develop

This PR improves the way FIR and IIR filters are passed to filtering functions, and normalises duplicated code into the relevant modules. Summary is:

  • new common methods under signal.filter_design for parsing filter arguments, and converting analog ZPK to digital, used by <Array>.filter instance methods
  • added common frequency-domain methods module as frequencyseries._fdcommon, which now feeds FrequencySeries.filter and TimeSeries.filter
  • improved documentation of methods and functions

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