Require variables and constraints to be specified separately in IncidenceGraphInterface.remove_nodes

[Robbybp]

Fixes

If invalid components (those not contained in the incidence graph, including random objects like lists and tuples), were provided to remove_nodes, we would silently do nothing instead of raising an error.

Summary/Motivation:

The above behavior was present because we weren't calling self._validate_input in remove_nodes. Updating to call self._validate_input would still silently continue if a bad component was provided, and would give a non-helpful error message if a random object was provided.

Changes proposed in this PR:

• Update _validate_input to give a helpful error message if something that is not in the cached var/con ComponentMaps is provided
• Call _validate_input in remove_nodes
• Require that variables and constraints are specified separately. This allows us to raise helpful error messages in _validate_input. The alternative would probably be to have some more complicated, custom error-checking code in remove_nodes directly. I'm considering this breaking change because (a) it makes the method consistent with all the other methods on IncidenceGraphInterface and (b) I don't think many people are using this method.

Legal Acknowledgement

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1. I agree my contributions are submitted under the BSD license.
2. I represent I am authorized to make the contributions and grant the license. If my employer has rights to intellectual property that includes these contributions, I represent that I have received permission to make contributions and grant the required license on behalf of that employer.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 88.39%. Comparing base (c68ce66) to head (24d3baf).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3212      +/-   ##
==========================================
- Coverage   88.40%   88.39%   -0.01%     
==========================================
  Files         847      847              
  Lines       95285    95309      +24     
==========================================
+ Hits        84232    84252      +20     
- Misses      11053    11057       +4     

Flag	Coverage Δ
linux	86.34% <100.00%> (+<0.01%)	⬆️
osx	76.19% <100.00%> (+<0.01%)	⬆️
other	86.53% <100.00%> (-0.01%)	⬇️
win	83.83% <100.00%> (-0.01%)	⬇️

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