Greg Horn

Make this optional using DirCollOpts

Having one control per collocation point is already supported by the algebraic variables. Plus there are some good reasons to use piecewise constant controls....

I could easily add parameters and final (full) quatratures. It would also be nice to output KKT conditions, if i can get them from the NLP solver

These should be split into upper and lower constraints using the sign of the multipliers, then summed. Should be trivial

The graph coloring solution for https://github.com/ghorn/dynobud/issues/84 doesn't apply to `OcpHomotopies` because fixed parameters `fp` weren't lifted. I think this can be fixed by not using `fp` for homotopies, but by...

instances for Storable and Unboxed vectors

1

Need instances for `Vectorize` and `View`. For `View` it should just be adding `Viewable` instances for those vectors. For `Vectorize` maybe I should add a `Vectorizable` class.