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opt: add exploration rule for constraining scans
New "constrain scan" explore rule tries to push filters into scans, as constraints. The result is either just the constrained scan (if the filter was fully converted into a constraint), or a select on top of the constrained scan. Along with the rule, we needed some minor changes on the execution side to support scan constraints. Other fixes that were necessary: - optgen: the generated code for explore rules was adding expressions to the wrong group (because of shadowing of the original `_eid`). - idxconstraint support for `FiltersOp`. - move the idxconstraint test to `idxconstraint_test` package to avoid import loop. - test catalog fix: the primary index was returning the wrong ordinal value. - adding some cost to the select operator, to prefer a constrained scan with no remaining filter (vs a constrained scan with a remaining filter). Release note: None
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