added: Jacobian and Hessians in getinfo(mhe) if nc>0

[franckgaga]

The info dictionary will now include the Jacobian and Hessians of the nonlinear inequality constraint if the model is a LinModel and the number of custom nonlinear constraints is nc>0

A major cleanup of the getinfo(estim::MovingHorizonEstimator) method was also done. Note that there are two changes in the :X̂ and :D fields:

1. :X̂ or :Xhat : the number of data points is now $N_k$ instead of $N_k+1$. The $\mathbf{\hat{X}}$ vector is now consistent with the one defined in init_predmath_mhe, so cleaner and easier to maintain. The vector also now exclude the arrival state estimate, but the user can fetch it with info[:x̂arr] or info[:xhatarr].
2. :D : the number of data points is now $N_k+1$ instead of $N_k$. The $\mathbf{D}$ vector is now consistent with the one defined in init_predmath_mhe, so cleaner and easier to maintain. It also now include the $\mathbf{d}(k-N_k)$ data point, a necessary value to compute the predictions with direct=true.

These 2 changes are theoretically breaking, but I will consider them non-breaking since getinfo is a debugging function.

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.57%. Comparing base (6da3bc5) to head (11c648e).
⚠️ Report is 2 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #366   +/-   ##
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  Coverage   98.56%   98.57%           
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  Files          27       27           
  Lines        5431     5464   +33     
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+ Hits         5353     5386   +33     
  Misses         78       78           

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