Enhance CDDP with barrier and constraint improvements #63
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… update regularization minimums and improve regularization logic in solver methods
…ce test case with new constraints and plotting functionality
…tion thresholds and enhance option printing with additional parameters
…zation logic; add tests for ball and linear constraints
… on core functionality
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Introduce barrier support in CDDP, enhance constraint handling, and improve solver options. Add new tests for various constraints and update existing examples for better clarity and functionality.