Use PolyAlgorithms for Nonlinear Solves

[avik-pal]

Fixes #123

[avik-pal]

Needs SciML/NonlinearSolve.jl#279 for the tests to pass. I tested the defaults locally and they work without breaking type stability

[avik-pal]

Now we don't even need to do anything different for NLLS, if size(du) != size(u) it will automatically construct an NLLSProblem and NonlinearSolve will dispatch to the correct solver!

[github-actions]

Benchmark Results

	master	d666585...	t[master]/t[d666585...]
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = false)	4.22 ± 0.32 ms	4.28 ± 0.34 ms	0.986
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = true)	8.04 ± 0.65 ms	8 ± 0.48 ms	1
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.112 ± 0.0073 s	0.114 ± 0.0079 s	0.984
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = true)	2.56 ± 0.014 s	2.39 ± 0.076 s	1.07
Simple Pendulum/IIP/Shooting(Tsit5())	0.376 ± 0.062 ms	0.375 ± 0.055 ms	1
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = false)	10.9 ± 3.1 ms	10.7 ± 1.3 ms	1.02
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = true)	19.5 ± 8.5 ms	19 ± 8.4 ms	1.03
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.325 ± 0.0086 s	0.333 ± 0.01 s	0.975
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = true)	9.88 s	9.59 s	1.03
Simple Pendulum/OOP/Shooting(Tsit5())	1.56 ± 0.2 ms	1.55 ± 0.17 ms	1
time_to_load	10.5 ± 0.058 s	10.5 ± 0.12 s	0.995

Benchmark Plots

A plot of the benchmark results have been uploaded as an artifact to the workflow run for this PR.
Go to "Actions"->"Benchmark a pull request"->[the most recent run]->"Artifacts" (at the bottom).