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Deprecate c headers #206

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CursedRock17
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Related to this pull request in geometry2 in which we deprecated the .h style headers in favor of .hpp.

@jonbinney
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@CursedRock17 looks like tests are failing

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I should mention this is meant to be a preemptive PR for if/when the related pull request gets approved. I'm also working on a backport so there won't be distribution issues.

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