Use Rust-native `Error` types in `qiskit-transpiler` crate when possible.

[raynelfss]

What should we add?

Many of the functions representing transpiler passes still use PyResult<_> as their return type when it is no longer needed. We should clean up these methods by both:

• Implementing rust native errors using anyhow, this-error, and other options.
• Exposing py pre-fixed versions of the functions which are exposed to Python and use Python types as inputs when required.