[Bug]: Objective constructors have bad initial keyword args

[andgoldschmidt]

What happened?

function QuadraticSmoothnessRegularizer(;
	name::Symbol=nothing,
	times::AbstractVector{Int}=1:traj.T,
	R::AbstractVector{<:Real}=ones(traj.dims[name]),
	eval_hessian=true
)

and

function QuadraticRegularizer(;
	name::Symbol=nothing,
	times::AbstractVector{Int}=1:traj.T,
	dim::Int=nothing,
	R::AbstractVector{<:Real}=ones(traj.dims[name]),
	values::Union{Nothing,AbstractArray{<:Real}}=nothing,
	eval_hessian=true,
	timestep_symbol=:Δt
)

are an example of the bug. These interfaces are not usually called, but still the interface of these objectives should be adjusted.

Version

stable release

What does this bug affect?

• [ ] quantum system construction
• [X] problem setup
• [ ] problem solution
• [ ] problem performance
• [ ] solution analysis
• [ ] plotting
• [ ] documentation
• [ ] tests
• [ ] other (please specify below)

Other information

No response

[andgoldschmidt]

For now, the fix should be to set default args to nothing, with their types declared as Unions with nothing so that the asserts print.

[andgoldschmidt]

Fixed by migration to DirectTrajOpt.jl, #189