Allow hue, chroma or saturation to be undefined.

In HSL space, grayscale colors can now have undefined hue rather than assuming a
hue of 0°; likewise black and white can have undefined saturation rather than
assuming 0%. In HCL space, black can now have undefined hue and chroma. (For
non-black grayscale colors, including white, hue and chroma are implied by the
D65 standard referent.)

When interpolating between colors with undefined hue, saturation or chroma, the
defined value is used when available. For example, when interpolating from black
to blue in HCL space, the intermediate colors are now dark blues (#241178)
rather than dark purples (#600054).

Fixes #833.