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Cleanup for Optimal Control Ops (#1045)
* Blockwise optimal linear control ops * Add jax rewrite to eliminate `BilinearSolveDiscreteLyapunov` * set `solve_discrete_lyapunov` method default to bilinear * Appease mypy * restore method dispatching * Use `pt.vectorize` on base `solve_discrete_lyapunov` case * Apply JAX rewrite before canonicalization * Improve tests * Remove useless warning filters * Fix local_blockwise_alloc rewrite The rewrite was squeezing too many dimensions of the alloced value, when this didn't have dummy expand dims to the left. * Fix float32 tests * Test against complex inputs * Appease ViPy (Vieira-py type checking) * Remove condition from `TensorLike` import * Infer dtype from `node.outputs.type.dtype` * Remove unused mypy ignore * Don't manually set dtype of output Revert change to `_solve_discrete_lyapunov` * Set dtype of Op outputs --------- Co-authored-by: ricardoV94 <[email protected]>
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