Add option to specify quadrature when integrating

and use it to have the correct quadratures in damping evaluation.
Write out abs and rel error in damping
Use factory to handle selection of quadrature scheme

Much cleaner than passing a bunch of booleans around.

Allows easy addition of new quadrature schemes.
Mass rename reduced integration -> nodal quadrature

"Nodal" is the standard term for what we are doing.
Add nodal integration function with unit weights