Improve template parse error messages

[beckyjackson]

Resolves #795

• docs/ have been added/updated
• tests have been added/updated
• mvn verify says all tests pass
• mvn site says all JavaDocs correct
• CHANGELOG.md has been updated

When using a restriction with a non-property entity, you will see:

MANCHESTER PARSE ERROR the expression ('test 1' some 'test 4') at row 7, column 4 in table "test.tsv" cannot be parsed: encountered unexpected 'some'
	hint: the term before 'some' must be a property
For details see: http://robot.obolibrary.org/template#manchester-parse-error

For all other types of parse errors, you will now see some expected suggestions. These come directly from the parser, but I tried to format them as much as possible to make sense.

e.g., using a class in a restriction for a data property:

MANCHESTER PARSE ERROR the expression ('test 1' some 'test 3') at row 5, column 4 in table "test.tsv" cannot be parsed: encountered 'test 3', but expected one of:
	Datatype name
	not
	{ ... }
For details see: http://robot.obolibrary.org/template#manchester-parse-error

Or using an undeclared class:

MANCHESTER PARSE ERROR the expression ('test 1' some 'test 4') at row 5, column 4 in table "test.tsv" cannot be parsed: encountered 'test 4', but expected one of:
 name
	( ... )
	{ ... }
	Self
For details see: http://robot.obolibrary.org/template#manchester-parse-error

[beckyjackson]

I'm not really sure why that first test failed, but it's fixed now...