Remove ndarray Keyword Argument

[pulsipher]

This PR removes ndarray as a keyword argument and essentially makes ndarray = true the default behavior. Users that still prefer to get a vector output can simply use vec to vectorize.

This PR simplifies the way TranscriptionOpt reports back mappings, improves printing for transcribed variables, and enhances the robustness/efficiency of making n-dimensional arrays for transcribed mappings.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 99.77%. Comparing base (0157256) to head (f9b4600).

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #356      +/-   ##
==========================================
- Coverage   99.77%   99.77%   -0.01%     
==========================================
  Files          35       35              
  Lines        6758     6722      -36     
==========================================
- Hits         6743     6707      -36     
  Misses         15       15              

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