feat(protocol engine): calculate volume and height for irregular well shapes

[caila-marashaj]

Overview

Previously in frustum_helpers, we were only handling the cases where wells had either all circular or all rectangular cross sections. If neither of these is the case, let's iterate through all the cross-sections and find the volume using the volume-of-a-frustum formula.

Changelog

• add calculations using the volume-of-a-frustum formula
• make sure there are no repeat roots found in reject_unacceptable_heights- this happened with 0.0
• add tests for all the frustum math we have so far

Review Requests

Pls help me make sure I input the formula correctly

[sfoster1]

Excellent. Let's add some tests though. Remember, the code's obvious now, but somebody might accidentally change it later and if tests fail they'll know they messed up.

[sfoster1]

Would love to see an explicit isclose() compare instead of set identity for floats.

Also, since this is a math thing, it might be worth investigating using hypothesis, but that doesn't have to be in this pr.

[caila-marashaj]

Would love to see an explicit isclose() compare instead of set identity for floats.

Also, since this is a math thing, it might be worth investigating using hypothesis, but that doesn't have to be in this pr.

https://opentrons.atlassian.net/jira/software/c/projects/EXEC/list?selectedIssue=EXEC-726

[sfoster1]

lgtm!