Added discrete states (Closes #117)

[teubert]

Closes #177

Adds the option of discrete states to ProgPy. Discrete states are implemented by initializing a state using the Discrete State Object. Created a TankModel to represent this.

This required some extra logic to support, especially changing the way containers work

I also added a jupyter notebook to demonstrate this feature. This notebook will later be merged into the numbered notebooks

[github-actions]

Thank you for opening this PR. Each PR into dev requires a code review. For the code review, look at the following:

• Reviewer (someone other than author) should look for bugs, efficiency, readability, testing, and coverage in examples (if relevant).
• Ensure that each PR adding a new feature should include a test verifying that feature.
• All errors from static analysis must be resolved.
• Review the test coverage reports (if there is a change) - will be added as comment on PR if there is a change
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• Any added dependencies are included in requirements.txt, setup.py, and dev_guide.rst (this document)
• All warnings from static analysis must be reviewed and resolved - if deemed appropriate.

[lymichelle21]

As mentioned during the PR review meeting, adding a note on what the expected behavior should be for the sequential discrete states if the first state is 0 and we subtract from it (should it throw an error, stay at 0, or loop circularly to the highest state?)

[lymichelle21]

Jupyter notebook runs and examples all make sense - excited to see discrete states added to ProgPy.

[kjjarvis]

Just a few minor suggestions and a question about the small_rotorcraft.py changes. Also, I'm getting a failed test on line 49 of test_discrete_states.py. Sounds like @lymichelle21 didn't get the same error so let's debug together on Wednesday

[lymichelle21]

Just a few minor suggestions and a question about the small_rotorcraft.py changes. Also, I'm getting a failed test on line 49 of test_discrete_states.py. Sounds like @lymichelle21 didn't get the same error so let's debug together on Wednesday

Ah I see the error in test_discrete_states.py now - I had assumed that it was part of the collective python -m tests run and those ran successfully. It might be good to add the discrete states test to tests/__main__.py.

This is the following error with the sequential transition lower bound (and similar upper bound) test. This is likely because the current implementation doesn't raise a value error when hitting the bounds (as demonstrated in discrete_states.ipynb, it would just go to the bound directly).

Testing Discrete States
..F.
======================================================================
FAIL: test_sequential_transition (__main__.TestDiscreteStates.test_sequential_transition)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/Users/mly1/Documents/progpy/tests/test_discrete_state.py", line 49, in test_sequential_transition
    with self.assertRaises(ValueError):
         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AssertionError: ValueError not raised

----------------------------------------------------------------------
Ran 4 tests in 0.002s

FAILED (failures=1)
Traceback (most recent call last):
  File "/Users/mly1/Documents/progpy/tests/test_discrete_state.py", line 136, in <module>
    main()
  File "/Users/mly1/Documents/progpy/tests/test_discrete_state.py", line 133, in main
    raise Exception("Failed test")
Exception: Failed test

[lymichelle21]

Tests all run successfully :)

[lymichelle21]

LGTM

[kjjarvis]

Looks good!