Add relax_with_penalty

[odow]

x-ref jump-dev/MathOptInterface.jl#1995
Closes #3034

Preview: https://jump.dev/JuMP.jl/previews/PR3140/tutorials/getting_started/debugging/

[codecov]

Codecov Report

Base: 97.69% // Head: 97.69% // Increases project coverage by +0.00% 🎉

Coverage data is based on head (2d60da9) compared to base (856dcc6).
Patch coverage: 100.00% of modified lines in pull request are covered.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #3140   +/-   ##
=======================================
  Coverage   97.69%   97.69%           
=======================================
  Files          33       33           
  Lines        4460     4468    +8     
=======================================
+ Hits         4357     4365    +8     
  Misses        103      103           

Impacted Files	Coverage Δ
src/constraints.jl	96.49% <100.00%> (+0.11%)	⬆️

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[blegat]

According to the JuMP style guide:

Omit ! when the name itself makes it clear that modification is taking place, e.g., add_constraint and set_name

I don't think that we are in the case where "the name itself makes it clear that modification is taking place"

[odow]

Updated to penalty_relaxation!

[odow]

Bike-shedding, how about one of:

• make_penalty_relaxation(model)

• create_penalty_relaxation(model)

• add_penalty_relaxation(model)

• reformulate_as_penalty_relaxation(model)

• modify_model_for_penalty_relaxation(model)

• relax_with_penalty(model)

• relax_with_penalty!(model)

[odow]

Following today's call, I've renamed to relax_with_penalty!.

[odow]

I'll wait a couple more days for comments, and then I'll merge.