Split condensing and regularization into preparation and feedback #1034
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Condensing modules now provide
condense- all condensing operationscondense_rhs- condensing the right hand sidecondense_lhs- condensing the left hand sideSimilarly, regularization modules now provide
regularize- all operationsregularize_rhs- operations on the right hand sideregularize_lhs- operations on the left hand sideOnly if RTI is split into preparation and feedback, the
_rhs/_lhsroutines are called.Otherwise, operations are done all together.
Addresses #1031
NOTE: using convexify with split RTI phase has now relatively overhead, see #1035
Splitting the computations for
convexifymore efficiently should be done in another PR.