Refactor constraint manifold and related tests for improved clarity and consistency · borglab/GTDynamics@92033f2

Job	Run time
macos-15-xcode-16.4 Debug (no-native C++-only)	13m 5s
macos-15-xcode-16.4 Release (native+py)	41m 55s
	55m 0s

13m 5s

41m 55s

55m 0s

Provide feedback