Use auto generated client identifiers

[colin-axner]

Summary

proposal by @AdityaSripal

Use auto generated client identifiers. During create client a client identifier will created using a global counter stored in the 02-client keeper. The identifier will take the format <clientType>-<counter. For example:

tendermint-1
solomachine-2
tendermint-v2-3

The addition of the client type is for UI purposes, the counter provides the uniqueness we require for security. This will not require an ICS change as it will be specific to the SDK IBC implementation.

This aligns the architecture with how we construct connection/channel identifiers, lowers the burden of UX complexity on the relayer and prevents poor design choices by making the identifiers explicitly meaningless.

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