Add support for repacking condensed sparse files

This commit broadly does the following things:
 - Rename and move the sparse mapping structure to libutil
 - Add a function to the data writer for writing condensed versions
   of sparse files, given the mapping.
 - This shares code with the already existing function for regular
   files. The shared code is moved to a common helper function.
 - Add support to tar2sqfs for repacking sparse files.

Signed-off-by: David Oberhollenzer <david.oberhollenzer@sigma-star.at>

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