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This PR adds the Poseidon31 hasher, which is useful for recursive proof verification of a M31 proof over the M31 field.
Benchmark for proof generation suggests that the proof time is doubled when using Poseidon31 instead of Blake2s.
The Poseidon31 implementation resembles the one for Poseidon252, in that we do not use Poseidon sponge, but shapes it as a cryptographically secure hash function for compression and derivation.