fix discretizer packaging and optional testing

Previously the testing/importing 'continuum' would fail if sympy was not
installed. Now we do the following:

    * add sympy as an optional dependency in 'extras_require'
    * force pytest to ignore tests in packages that have uninstalled
      dependencies by defining a hook in 'conftest.py'
    * use the 'class as a module' hack when importing 'continuum'.
      When sympy is not installed the continuum module will be replaced
      with an instance of 'ExtensionUnavailable' that will raise a runtime
      error on attribute access.
    * no warning is raised if sympy is not installed (it is an
      optional dependency).