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.