Create function to traverse the object for encoding

[pablitovicente]

Description

Implement encode(schema: object, message: any) => Buffer in lisk-codec

Motivation

We need to generate a binary message given an object and its schema.

Acceptance Criteria

• encode() can generate a buffer from any object based on its schema
• encode() should cache the schema and generate a simpler encoder on first run
• encode() should support any writer we might add in the future
• The generated encoder should be able to generate the key/keys for each property
• The generated encoder picks the correct writer for each property
• Code should be optimised for speed as much as possible
• Full test coverage
• Performance stats are provided based on the encoding of the smallest and biggest objects possible in the Lisk network

Additional Information

• encode() will use a set of writers for each specific data type defined in the schema (this will be detailed in separated issues)

Related issues: #5200