Add XPath translate() function

Closing out this feature request as the javaRosa PR has been merged (thanks @ggalmazor). So this new XPath function should become available in a subsequent ODK Collect (and Validate) build. In the mean time it works presently under Enketo if you want to play around with the example forms.

I'll submit a corresponding PR to update the docs for this, and substring-before() and substring-after(), shortly.