fix($browser): prevent infinite digests when clearing the hash of a url

By using `location.hash` to update the current browser location when only
the hash has changed, we prevent the browser from attempting to reload.

Closes #9629
Closes #9635
Closes #10228
Closes #10308
fix($location): allow hash fragments with hashPrefix in hash-bang location urls

Previously if there was a hash fragment but no hashPrefix we would throw an error.
Now we assume that the hash-bang path is empty and that the hash is a valid fragment.

This prevents unnecessary exceptions where we clear the hashBang path, say by
navigating back to the base url, where the $browser leaves an empty hash symbol
on the URL to ensure there is no browser reload.

BREAKING CHANGE:

We no longer throw an `ihshprfx` error if the URL after the base path
contains only a hash fragment.  Previously, if the base URL was `http://abc.com/base/`
and the hashPrefix is `!` then trying to parse `http://abc.com/base/#some-fragment`
would have thrown an error. Now we simply assume it is a normal fragment and
that the path is empty, resulting `$location.absUrl() === "http://abc.com/base/#!/#some-fragment"`.

This should not break any applications, but you can no longer rely on receiving the
`ihshprfx` error for paths that have the syntax above. It is actually more similar
to what currently happens for invalid extra paths anyway:  If the base URL
and hashPrfix are set up as above, then `http://abc.com/base/other/path` does not
throw an error but just ignores the extra path: `http://abc.com/base`.

Closes #9629
Closes #9635
Closes #10228
Closes #10308
docs($location.ihshprfx): remove docs for unused error
refactor($templateRequest): avoid double calls to $templateCache.put

Closes #10265
docs($animate): improve formatting of inline code
fix(ngAnimate): do not use jQuery class API

jQeury's class API causes problems with SVG elements --- using jqLite in all cases
prevents issues.

Closes #10024
Closes #10329
feat($$jqLite): export jqLite as a private service

This makes it easy to use jqLite's nicer class API (compared to jQuery) in modules
like ngAnimate.
docs(guide/migration): add info about change that could break isolated directive usage

Closes #10236
docs(ie): remove fixes needed for IE8 since we don't support it now

Closes #10330
Closes #10316
fix(ngModelController): always use the most recent viewValue for validation

This fixes issues where a parser calls $setViewValue. This is a common
strategy for manipulating the $viewValue while the user is entering
data into an input field.

When the $viewValue was changed inside the parser, the new viewValue
would be committed, parsed and used for validation. The original parser
however would run after that and pass the original (outdated) viewValue
on to the validators, which could cause false positives, e.g. for
minlength.

Fixes #10126
Fixes #10299
docs(guide/forms): enhanced form examples to utilize $touched

The "Binding to form and control state" example now makes use of
control states that were introduced in 1.3.
For example, users are now informed of validation requirements upon
clicking 'Save'.

Closes #10066
docs(compile): document $attrs.$normalize

Closes #10345
refactor(ngAria): remove local camelCase method

Closes #10338
Closes #10337
chore(travis): enable both SauceLabs and BrowserStack

Setting env var `BROWSER_PROVIDER` to `browserstack` or `saucelabs`
determines which browser provider will be used.

This does not affect the build as all jobs are set to use SauceLabs.

Switch to Karma with Socket.io 1.x, which solves some issues(*) with BS.
Thus removing `config.transports` as it is not used anymore
(Socket.io 1.x starts with polling and tries to upgrade if available).

(*) folks from BS were fiddling with socket.io configuration to get it stable.
See https://github.com/dhimil/karma/commit/4c04011850bf66a8a7556cd76ad662c568399481
This is not necessary with Socket.io 1.x.
chore(travis): clean up browserstack/saucelabs scripts
chore(grunt): remove unused code
fix(http): preserve config object when resolving from cache

Fixes #9004
Closes #9030