Change type printing and parsing to the new datashape grammar

TODO: This is a minimal grammar change, need to fully switch the
      parser to the new grammar documented in datashape, and use
      a symbol table with type constructors similar to the new parser
      in datashape.
Update documentation change remaining references to ndobject
Fix some of the ndt::type printouts to use [] instead of <> or ()
Merge pull request #9 from mwiebe/new_parser

Update for new datashape grammar