[Interpolation] Add interface for SyGuS interpolation module (#4677)

[Interpolation] Add interface for SyGuS interpolation module (#4677)

This is the second step of adding Interpolation. The whole change will be adding the API for (get-interpol s B), which is aim for computes an I that A->I and I->B. Here A is the assertions in the stack.

The second step creates the component for computing interpolation, while omits the implementation.