Initial support for quadrilateral meshes

What is included?
 * Utility quadrilateral mesh creation
    * Boundary subdomains are supported
 * Cell integrals
    * Higher-order CG
    * HDiv and HCurl elements (manual assembly required, just as for extruded meshes)
 * Test cases for the above
 * Visualisation output

What does not work yet?
 * Facet integrals
 * Non-affine mesh elements
 * Extruded quadrilateral meshes
 * Immersed quadrilateral meshes (not tested)

I don't think that the Firedrake test suite has a vector Laplace already. I have taken it from @dorugeber's paper.