Remove consensus state from verifyXYZ funcs

[colin-axner]

Summary

Consensus State should be retrieved by the client not the connection keeper. VerifyConsensusState should remain unchanged.

Problem Definition

The consensus state is being added to all verify functions which is varies from the ics spec. This is because the tendermint client needs access to its consensus state.

The retrieval of consensus state by the client was previously blocked by #5502 which has been closed. Since the prefixed store is already being passed into the verify functions, the consensus state can be retrieved from there.

Proposal

Add a GetConsensusState(store sdk.KVStore, height uint64) ConsensusState for the tm client in a types/store.go file.

This is blocked on proto integration to the client keeper. Implementing this currently would require passing an amino codec to the verify funcs. If we wait for proto integration than this will be unnecessary. ref: #6254

Edit: updated issue with better reasoning

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