Port TwoQubitControlledUDecomposer to rust (Qiskit#13139)

* replace calls to TwoQubitWeylDecomposition by calling rust functions

* fix failing test

* add code for TwoQubitControlledUDecomposer in rust

* update try_inverse to inverse

* fix rust code. add rust docstrings

* remove python code

* update unitary in call

* handle global_phase

* minor fix

* fix lint

* set self.rxx_equivalent_gate

* check that rxx_equivalent_gate is a standard gate

* iterating over test_angles and scales

* add Vec capacity

* remove invert variable

* move comments from Python to Rust code

* remove new_inner function, move code into new

* call returns a CircuitData

* Support custom gates for decomposition too

This commit adds back the missing support for custom gate classes so
that a user defined gate class can be used with the decomposer.

* Remove bare panics

* Undo debug testing for invalid custom gate check

* Fix lint

* Fix python lint

* add default fidelity value

* add more gates for the tests

* assert that CustomXYGate raises an error

* update assertion in test

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Co-authored-by: Matthew Treinish <[email protected]>