[MERGE] Branch6 mark II

[Aaron Bentley]

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Hi all,

I've written up a new version to address Martin's comments, and I've
also made some other changes.  So here's the revised version.

Changes:
- - Revno is stored along with revision_id, making
Branch.last_revision_info a fundamental operation for this format.
- - Cached revision history (like branch5 does)
- - Iterate through revision history rather than generating a revision
  graph and generating lefthand history from that
- - Exceptions rather than asserts when it's possible that you're trying
to clone a branch with a non-lefthand history.
- - Documentation improvements
- - Error message changes
- - Add ``--append-revisions-only`` option to ``init``
- - Refactoring

Since there were so many changes, I decided I should resubmit it,
instead of just merging.  But I now feel that it's a worthy candidate
for a default format.  (perhaps in 0.16)

Aaron
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