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CollInt: Raise Exception when 'constraints()' returns None

Tjerk Vreeken requested to merge fix-constraints-accidental-return-none into master

We would silently contintue execution if constraints() returns None due to it being falsy (just like an empty list). Generally though, returning None is a user error where they forgot to return a value. To make this error easier to catch, we now raise an Exception.

Note that returning None from path_constraints() already resulted in an error.

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