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assert: make assert.fail doc compliant

I refactored the assert module a tiny bit. Now assert.fail is actually doc compliant and has no fifth argument anymore. While doing that I was also able to remove the lazy assert call in the AssertionError constructor. I also removed the lazy loading of the errors in assert. As the errors lazy load assert it is fine to load the errors in assert upfront.

Checklist
  • make -j4 test (UNIX), or vcbuild test (Windows) passes
  • tests and/or benchmarks are included
  • documentation is changed or added
  • commit message follows commit guidelines
Affected core subsystem(s)

assert

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