Make Manifests' in-memory reference structure pluggable

[TomNicholas]

Currently the ChunkManifest is hardcoded to use numpy arrays underneath to store the paths/offsets/byte ranges. However there are a few cases where we might want to use another format:

• sparse grids of chunks
• "algorithmically inflatable" grids of chunks (see Add hypergrib as as a grib reader #238)
• using even more efficient reference storage formats (Rewrite manifest logic in Rust? #23)

We could definitely imagine making this pluggable. The main question I have is whether the other manifest implementations should implement their own ChunkManifest class (e.g. SparseChunkManifest), i.e. ManifestArray becomes a Generic in the type of the .manifest attribute; or use virtualizarr's ChunkManifest class but wrap a different array type, i.e. ChunkManifest becomes a Generic in the type of the .paths/.offset/.lengths attributes.

Right now the latter should be pretty straightforward, but the former would require some refactoring because the ChunkManifest abstraction is leaky in that the implementation of concatenate for ManifestArrays accesses private internals of the wrapped ChunkManifest (i.e. the wrapped numpy arrays).

A related consideration is providing some kind of interface for iterating over all the references in the Manifest that doesn't make assumptions about how the references are actually stored under the hood. That's currently another place where the abstraction is a bit leaky, e.g.

VirtualiZarr/virtualizarr/manifests/manifest.py

Line 356 in 47a5e87

renamed_paths = vectorized_rename_fn(self._paths)