[RTM when tested] Added a multi-node constraint for the total duration of the movement

[EveCharbie]

This change is 

[codecov]

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Files	Coverage Δ
bioptim/limits/constraints.py	51.40% <100.00%> (+2.64%)	⬆️
bioptim/limits/multinode_constraint.py	96.15% <100.00%> (+0.07%)	⬆️
bioptim/limits/penalty.py	83.53% <ø> (+0.16%)	⬆️
bioptim/optimization/non_linear_program.py	90.84% <100.00%> (+0.37%)	⬆️
bioptim/limits/multinode_penalty.py	62.20% <90.00%> (+3.54%)	⬆️
bioptim/limits/penalty_controller.py	88.57% <88.88%> (+0.02%)	⬆️

... and 8 files with indirect coverage changes

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[pariterre]

Reviewed 3 of 3 files at r1, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @EveCharbie)

[pariterre]

Waiting for a little test and then merging!

[EveCharbie]

@pariterre can be merged :)
Just check first because I fixed a bunch of other bugs while I was at it.

[pariterre]

Reviewed 4 of 4 files at r2, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @EveCharbie)