Leo/assemble action adjoint

[leo-collins]

• Assembles action(w*, A) by computing A* @ w*
• Make the simplification action(adjoint(A), w*) -> action(w*, A) to avoid adjointing A

[pbrubeck]

This gets rid of the explicit adjoint in action(adjoint(A), y). Do we also want to add a similar transformation to remove the adjoint in action(x, adjoint(A)) -> action(A, x)?