SMT2 parser: use lambda for function defintions

[kroening]

This removes special casing for function definitions by using a lambda
expression for the definition instead of a pair of an expression and a
vector of identifiers.

• Each commit message has a non-empty body, explaining why the change was made.
• n/a Methods or procedures I have added are documented, following the guidelines provided in CODING_STANDARD.md.
• n/a The feature or user visible behaviour I have added or modified has been documented in the User Guide in doc/cprover-manual/
• Regression or unit tests are included, or existing tests cover the modified code (in this case I have detailed which ones those are in the commit message).
• n/a My commit message includes data points confirming performance improvements (if claimed).
• My PR is restricted to a single feature or bugfix.
• n/a White-space or formatting changes outside the feature-related changed lines are in commits of their own.

[codecov]

Codecov Report

Merging #6191 (92d4a88) into develop (0002950) will increase coverage by 8.27%.
The diff coverage is n/a.

@@             Coverage Diff             @@
##           develop    #6191      +/-   ##
===========================================
+ Coverage    67.40%   75.68%   +8.27%     
===========================================
  Files         1157     1454     +297     
  Lines        95236   160946   +65710     
===========================================
+ Hits         64197   121811   +57614     
- Misses       31039    39135    +8096     

Flag	Coverage Δ
cproversmt2	?
regression	?
unit	?

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
src/util/string_container.cpp	52.94% <0.00%> (-47.06%)	⬇️
src/solvers/prop/prop.cpp	42.85% <0.00%> (-41.76%)	⬇️
src/solvers/flattening/boolbv_member.cpp	53.65% <0.00%> (-38.65%)	⬇️
src/cpp/cpp_storage_spec.cpp	65.00% <0.00%> (-35.00%)	⬇️
src/util/cmdline.h	66.66% <0.00%> (-33.34%)	⬇️
src/solvers/strings/array_pool.h	66.66% <0.00%> (-33.34%)	⬇️
src/solvers/strings/string_refinement.h	66.66% <0.00%> (-33.34%)	⬇️
...rs/strings/string_concatenation_builtin_function.h	0.00% <0.00%> (-33.34%)	⬇️
src/cbmc/c_test_input_generator.cpp	60.00% <0.00%> (-30.33%)	⬇️
src/analyses/local_cfg.h	75.00% <0.00%> (-25.00%)	⬇️
... and 1433 more

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