feat: add assertions functionality

[AayushSabharwal]

Checklist

• Appropriate tests were added
• Any code changes were done in a way that does not break public API
• All documentation related to code changes were updated
• The new code follows the
  contributor guidelines, in particular the SciML Style Guide and
  COLPRAC.
• Any new documentation only uses public API

Additional context

Add any other context about the problem here.

[baggepinnen]

cool :)

[AayushSabharwal]

I think formatter fails because it needs a rebase. Will do that once the PR is approved.

[ChrisRackauckas]

This isn't causing a NaN in the non-debug? isoutofdomain could be used or NaN throws.

[AayushSabharwal]

I thought we didn't want this in the non-debug? I can add it if we do

[ChrisRackauckas]

You want a NaN but not an error, or you want isoutofdomain. Either way you need step rejections