lua-yaml: verify args in a consistent manner

Use lua_is*() functions instead of explicit lua_gettop() checks in
yaml.encode() and yaml.decode() functions.

Behaviour changes:

* yaml.decode(object, nil) ignores nil (it is consistent with encode
  behaviour).
* yaml.encode() gives an usage error instead of "unsupported Lua type
  'thread'".
* yaml.encode('', {}, {}) ignores 3rd argument (it is consistent with
  decode behaviour).