Add temporal PRIMARY KEY and UNIQUE constraints

Add temporal PRIMARY KEY and UNIQUE constraints

Add WITHOUT OVERLAPS clause to PRIMARY KEY and UNIQUE constraints.
These are backed by GiST indexes instead of B-tree indexes, since they
are essentially exclusion constraints with = for the scalar parts of
the key and && for the temporal part.

Author: Paul A. Jungwirth <pj@illuminatedcomputing.com>
Reviewed-by: Peter Eisentraut <peter@eisentraut.org>
Reviewed-by: jian he <jian.universality@gmail.com>
Discussion: https://www.postgresql.org/message-id/flat/CA+renyUApHgSZF9-nd-a0+OPGharLQLO=mDHcY4_qQ0+noCUVg@mail.gmail.com