Update PyROS Uncertainty Set Validation Methods

[jas-yao]

Fixes: #2724, #3508

Summary/Motivation:

This PR provides updates to PyROS uncertainty set validation methods and related tests.
Here, a validate method replaces the is_valid method (which solves 2N bounding problems to check for set boundedness) in all uncertainty sets, with each set having its own custom validate method that efficiently checks set-specific attributes and raises informative exceptions if any issues are found.

Changes proposed in this PR:

• Update is_bounded and is_nonempty methods in base UncertaintySet class
• Provide a _solve_feasibility method in base UncertaintySet class
• Replace is_valid with validate method that runs is_bounded and is_nonempty in the base UncertaintySet class
• Override validate in subclass uncertainty sets to check set-specific attributes
• Remove attribute setter checks in uncertainty sets that have been moved to the validate method
• Update unit tests for is_bounded, is_nonempty, _solve_feasibility, and validate methods

TODO

• Add FBBT for _compute_parameter_bounds
• Add validate_array to all validate methods
• Split test_validate tests into separate tests for each validation check
• Delete _validate method for PolyhedralSet
• Update error messages to clearly indicate issues specific to uncertainty set setup
• Check uncertainty set documentation looks good and test fix for Invalid doctest in PyROS - unclear what behavior should be #3508
• Update version number and changelog (after Update the PyROS Separation Priority Ordering Interface #3581 merged)

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[jas-yao]

@shermanjasonaf @jsiirola I have addressed all comments.

I would appreciate further feedback on my implementations for is_bounded and _compute_exact_parameter_bounds.
I will also need to complete the final TODO to update the version number and changelog.

[jsiirola]

This looks good. @jas-yao, @shermanjasonaf: do you want to update the version & changelog as part of this PR before we merge it, or just add it to the next PR?

[mrmundt]

There are two doc issues (missing variables names), but this is otherwise lovely.

[mrmundt]

The actual varname is missing here.

[mrmundt]

The actual varname is missing here.

[jsiirola]

These are return values, so the actual var name is not necessary (or really all that relevant). I believe that this is syntactically correct numpydoc (the : just makes it explicit that we are providing the return type and are not specifying a (suggested) name.

[shermanjasonaf]

@jas-yao This looks good. You may want to remove the custom implementation of DiscreteScenarioSet.is_bounded(), which, though never used in the code (apart from in the discrete uncertainty set tests), unconditionally returns True.

[shermanjasonaf]

This looks good. @jas-yao, @shermanjasonaf: do you want to update the version & changelog as part of this PR before we merge it, or just add it to the next PR?

@jsiirola Let's leave the version number and changelog updates for #3649.