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[Dev] Add non zero dim control case with variable #763

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@jbcaillau

@ocots

  • add an example with a control, a variable and shooting that uses the transversality condition on $p_v(t_f)$ ($= 0$ if the variable $v$ is not in the cost)
  • update the doc with $p_v(0) = 0$ ($v(0)$ is free and one can always assume that it is not involved in the cost, using $v(t_f)$ instead); NB. this is why $p_v(0)$ needs not to be passed when evaluating the flow

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internal devModification to the code is requested and should not affect user experiment

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