BREAKING: Raise GMTParameterError exception for at_least_one parameters. Previously raise GMTInvalidInput

[Chuan1937]

Add GMTParameterError:at_least_one

@seisman
This is the second PR of #4003

Error types	Preferred Parameter Name	Alternative Parameter Names	Error Message Template
Required	required	must_have, needed	Missing required parameter: '{param}' Missing required parameters: '{a}', '{b}'
At least one is required	at_least_one	need_one_of, , , any_of``one_of``required_any	Missing required parameters: '{a}', '{b}', '{c}'. Must specify at least one. Must specify at least one of the parameters: '{a}', '{b}', '{c}'
Exactly one is required	exactly_one	mutually_exclusive	Mutually exclusive parameters: '{a}', '{b}', '{c}'. Specify exactly one.
At most one	at_most_one	mutually_exclusive	Mutually exclusive parameters: '{a}', '{b}', '{c}'. Specify at most one
Conflicting	conflicts_with	conflicts, incompatible_with	Conflicting parameters: '{a}' cannot be used with '{b}', '{c}'