Add generate and verify logic for `AncestryProof` (#4430)
Extracting the logic for generating and verifying ancestry proofs from this PR: https://github.com/paritytech/polkadot-sdk/pull/1903 with small adjustments @Lederstrumpf I added you as a co-author to each commit. Please let me know if you want me to also associate an e-mail address with your name
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