Stagewise translate #1481
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Stagewise translate #1481
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Refactor the external cost translation into three specialized methods:
translate_cost_0_term_to_external(initial)translate_cost_term_to_external(intermediate)translate_cost_e_term_to_external(terminal)This modular approach simplifies translation based on
yref_0,yref,yref_eandW_0,W,W_edefinitions without requiring direct handling of parameters (p,p_values,p_global,p_global_values).