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Add tight trilinear form #35

Description

@mewilhel
  • Add the basic trilinear relaxation
  • Compute and plot relaxation cases as a sanity check.
  • Check performance (no allocations in benchmarking)
  • Add unit tests for trilinear
  • Default to the trilinear relaxation for *(x,y,z)
  • Add methods for *(x, y, z, a, b, c) and so on which use use the trilinear form rather than *(x, *(y, *(z, *(a, *(b, c)))))

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