[breaking] drop invalid nonlinear support

[odow]

Closes #146
Closes #149

We actually don't support the NLPBlock because POI re-orders the variables by removing parameters. The tests passed because they had parameters at the end. But that isn't a good solution, and it seems simpler to drop support for the legacy nonlinear interface than throw an error if parameters are not in the right order.

We also don't really need POI for nonlinear. Ipopt supports parameters directly.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 94.92%. Comparing base (4ec565a) to head (ec7ed41).

❗ Current head ec7ed41 differs from pull request most recent head 343f7b3

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Additional details and impacted files

@@            Coverage Diff             @@
##           master     #147      +/-   ##
==========================================
- Coverage   94.96%   94.92%   -0.04%     
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  Files           5        5              
  Lines        1032     1025       -7     
==========================================
- Hits          980      973       -7     
  Misses         52       52              

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[joaquimg]

1 - Is there a tutorial using NLP parameters?
2 - In theory, we could preprocess the new nonlinear expression for VariableRef-in-MOI.Parameter, but it might be messy, correct?

[odow]

1. If you're using Ipopt, you don't need POI. Syntax is the same.
2. Yes, we could support MOI.ScalarNonlinearFunction. The issue is that we can't rewrite NLPBlock.

[odow]

Bump. I get that this is breaking, but the previous approach was incorrect and can't be worked around.

[joaquimg]

Lets merge this