ensure all mdbook links resolve

currently blocked, see #51 (comment)

internal links should check at the md source level and need to account for anchor links as well

external links can't be checked in the nix sandbox, and may break after initial validation, so probably best left out of such a check

blocked on #50, #51 and the chapters it links to (#7, #15, #16, #18)

two links will fail even then: cost_function_abstract.md (#15 adds cost_function.md) and ./00_overview.md in #35

we can add a nix flake check that ensures there are no broken links

i can take it once those land: check files and anchors in contrib/book.py, run it in nix flake check

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