constraint

CVXPy visitors for constraint expressions.

Visitors: Equality, Inequality, CrossNodeConstraint, CTCS

Lowers constraint AST nodes to CVXPy Constraint objects for the convex subproblem. Equality (lhs == rhs) and Inequality (lhs <= rhs) become the corresponding relational constraints, admissible when their sides obey DCP; CrossNodeConstraint simply lowers its inner constraint, relying on the full-trajectory x / u in variable_map so its node references resolve. CTCS is continuous-time and non-convex, enforced through dynamics augmentation in the JAX backend, so it raises NotImplementedError here.