Refactor constraints to IP-compatible box formulation#157
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Drop the Torch, ACADO, Gurobi, OSQP, and SQP integration paths from the build and public API. Keep examples, tests, Docker setup, and docs aligned with the remaining supported solver surface.
Remove the leftover test-output lines at the end of test_boxqp.cpp. This restores a clean build so the unit test suite runs successfully again.
Drop the remaining SNOPT build/example wiring and delete leftover neural-dynamics model artifacts. Keep the trimmed repository aligned with the supported build and test surface.
Drop the ALDDP solver from the build, public API, factory, and tests. Remove the dormant DBAS-DDP files and option plumbing to keep the solver surface consistent.
Convert path box constraints into unified IP-style ControlConstraint and StateConstraint Update CLDDP, examples, and constraint tests for raw bounds/clamp behavior.
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Summary
This PR refactors box-style constraints to a single interior-point-friendly formulation and aligns all call sites and tests with the new API.
Changes
ControlBoxConstraint/StateBoxConstraintusage inCLDDPSolverand examples withControlConstraintandStateConstraint.include/cddp-cpp/cddp_core/constraint.hppto use IP-compatible evaluate/dual bounds behavior while preserving raw bound access and clamp behavior.src/cddp_core/clddp_solver.cppto the new constraint names and accessors.examples/that build constraints and control/state bound path constraints.tests/cddp_core/to cover the new evaluate behavior ([-x; x]/[-u; u]style), raw bounds, and updated Jacobians where applicable.