constraint

JAX visitors for constraint expressions.

Visitors: Equality, Inequality, NodalConstraint, CrossNodeConstraint, CTCS

Lowers constraint AST nodes to residual functions in the g <= 0 / h = 0 convention: Equality and Inequality both return lhs - rhs. NodalConstraint merely unwraps to its inner constraint (which nodes it applies to is handled elsewhere), while CrossNodeConstraint exposes a trajectory-level (X, U, params) -> scalar signature for constraints that reference several nodes at once (e.g. rate limits). CTCS produces the penalty integrand for continuous-time constraint satisfaction, gated to its node range by wrapping the penalty in a :class:~openscvx.symbolic.expr.logic.Cond; unlike CVXPy, this backend can lower CTCS because the penalty is enforced through dynamics augmentation, not a convex constraint.