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Adds a new local time scope to constraints

Jonathan Külz requested to merge fix/constraints_valid_at_and_until into main

Now, constraints have three different time scopes:

  • is_valid_at: Is the constraint not hurt at a specific time t?
  • is_valid_until: Is the constraint not hurt at any time before (including) t?
  • fulfilled: Is the constraint fulfilled during the whole solution?

Follow-up on the discussion in #42 (closed)

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