feat: constraint-kind trait family and path-constraint/multiplier carriers#484
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- Add AbstractConstraintKind trait family (Traits/constraint_kind.jl):
StateConstraintKind, ControlConstraintKind, MixedConstraintKind
- Add constraint_kind() accessor and predicates (is_state/control/mixed_constraint)
- Wire into Traits.jl (includes, exports, module docstring)
- Add AbstractPathConstraint{K,TD,VD} abstract type (Data/abstract_path_constraint.jl)
- Add PathConstraint{F,K,TD,VD} concrete type with natural/uniform call signatures
- User-facing constructors: StateConstraint(), ControlConstraint(), MixedConstraint()
- Add AbstractMultiplier{TD,VD} abstract type (Data/abstract_multiplier.jl)
- Add Multiplier{F,TD,VD} concrete type with natural/uniform call signatures
- Add display helpers in Data/helpers.jl (_kind_label, _natural_sig_pc, _uniform_sig_pc,
_natural_sig_mult, _uniform_sig_mult)
- Wire into Data.jl (includes, exports)
- Update test_data_module.jl export/private symbol lists
- Add 5 new test files: test_constraint_kind.jl, test_abstract_path_constraint.jl,
test_path_constraint.jl, test_abstract_multiplier.jl, test_multiplier.jl
- Full CTBase test suite: 4579/4579 passing (Aqua included)
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
Introduces trait family for constraint kinds and generic carriers for path constraints and multipliers, laying groundwork for constrained optimal control flows.
AbstractConstraintKindtrait family (Traits/constraint_kind.jl):StateConstraintKind,ControlConstraintKind,MixedConstraintKindwithconstraint_kind()accessor and predicatesPathConstraint{F,K,TD,VD}type (Data/path_constraint.jl): carriers for path-constraint functions with constraint kind, time/variable dependence. Natural call signatures per kind (g(x),g(u),g(x,u)) and uniformg(t,x,u,v). User-facing constructors:StateConstraint(),ControlConstraint(),MixedConstraint().Multiplier{F,TD,VD}type (Data/multiplier.jl): carriers for Lagrange multipliers with time/variable dependence. Call signatureμ(t,x,p,v)and natural forms.Design reference
See .reports/constraints-and-duals-design.md section B1 (CTBase phase).
Test plan
Version bumped to 0.27.3-beta.
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