Use get_io_metadata during configure to pull information on constraints.

[robfalck]

Summary of Issue

Adding constraints in dymos currently requires the user to provide shape and unit information. We can obtain this information during configure with OpenMDAO's get_io_metadata method now.

Issue Type

• Bug
• Enhancement

Description

The shape argument will be deprecated and throw a warning, but functionally do nothing.

Configure-time introspection makes it possible to add boundary and path constraints to phases without needing to specify the shape of the variable - this can be obtained from get_io_metadata during configure.

Units should also default to the unit of the constrained output variable, if None.
(There should be no need for _unspecified here)

Example

N/A

Environment

N/A