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This PR implements and closes #137. The new `Endpoint` and `Context` classes expose the connection establishing functionality from `Communicator`, which now is only responsible for tying together the bootstrapper with a context. The largest breaking change here is that `Communicator.connectOnSetup(...)` now returns the `Connection` wrapped inside a `NonblockingFuture`. This is because with the way `Context` is implemented a `Connection` is now fully initialized on construction. Some smaller breaking API changes from this change are that `RegisteredMemory` no longer has a `rank()` function (as there maybe no concept of rank), and similarly `Connection` has no `remoteRank()` and `tag()` functions. The latter are replaced by `remoteRankOf` and `tagOf` functions in `Communicator`. A new `EndpointConfig` class is introduced to avoid duplication of the IB configuration parameters in the APIs of `Context` and `Communicator`. The usual usage pattern of just passing in a `Transport` still works due to an implicit conversion into `EndpointConfig`. Miscellaneous changes: -Cleans up how the PIMPL pattern is applied by making both the `Impl` struct and the `pimpl_` pointers private for all relevant classes in the core API. -Enables ctest to be run from the build root directory.