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[MNT] testing package without soft dependencies, isolate matplotlib (#662)
* adds a CI job, `pytest-nosoftdeps`, to test the package without soft
dependencies.
* isolates soft dependency `matplotlib` in tests and the plotting module
* isolates the `ecos` dependency almost entirely. There is one default
that remains, which is deprecated and scheduled for removal in 1.7.0.
* adds `scikit-base` soft dependency (without further dependencies) to
manage soft dependencies
This is also useful to check whether soft dependencies are properly
isolated.
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