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Brief relayer refactor to improve testing and add semantic dependenci…
…es (informalsystems#448) * Starting refactor for Connection & Channel relayer objects * Make chain handle object-safe via dyn_clone. * Went back to clone() method [h/t Romain for suggesting clone_trait_object!] * Refactoring Connection and ForeignClient * Added tests for client update * Added height check in ForeignClient update tests * Removed useless test/code * Added changelog entry * Consolidating names (cf. review of informalsystems#364). * Added more semantic deps
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