[RTM after next push] fix: linear continuous multiphase continuity

[Ipuch]

All Submissions:

• Have you followed the guidelines in our Contributing document [docs/contribution.md]?
• Have you checked to ensure there aren't other open [Pull Requests] for the same update/change?
• Have you opened/linked the issue related to your pull request? LINEAR_CONTINUOUS control is not continuous across phases #844
• Have you used the tag [WIP] for on-going changes, and removed it when the pull request was ready?
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New Feature Submissions:

1. Does your submission pass the tests (if not please explain why this is intended)?
2. Did you write a proper documentation (docstrings and ReadMe)
3. Have you linted your code locally prior to submission (using the command: black . -l120 --exclude "external/*")?

Changes to Core Features:

• Have you added an explanation of what your changes do and why you'd like us to include them?
• Have you written new examples for your core changes, as applicable?
• Have you written new tests for your core changes, as applicable?

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This change is 

[codecov]

Codecov Report

Attention: Patch coverage is 96.34146% with 3 lines in your changes are missing coverage. Please review.

Project coverage is 78.30%. Comparing base (944c2fe) to head (01d3962).
Report is 34 commits behind head on master.

❗ Current head 01d3962 differs from pull request most recent head 9952c5b. Consider uploading reports for the commit 9952c5b to get more accurate results

Files	Patch %	Lines
bioptim/limits/phase_transition.py	90.00%	1 Missing ⚠️
bioptim/limits/phase_transtion_builder.py	97.14%	1 Missing ⚠️
bioptim/optimization/optimal_control_program.py	96.77%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #857      +/-   ##
==========================================
+ Coverage   78.25%   78.30%   +0.04%     
==========================================
  Files         140      141       +1     
  Lines       16230    16278      +48     
==========================================
+ Hits        12701    12746      +45     
- Misses       3529     3532       +3     

Flag	Coverage Δ
unittests	78.30% <96.34%> (+0.04%)	⬆️

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[Ipuch]

• see Acados CI fails on MacOS #858

[pariterre]

Reviewed 3 of 4 files at r1, 3 of 3 files at r2, all commit messages.
Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @Ipuch)

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bioptim/limits/phase_transtion_builder.py line 6 at r2 (raw file):

class PhaseTransitionBuilder:

Factory?

---

bioptim/limits/phase_transtion_builder.py line 54 at r2 (raw file):

                            weight=None,
                        )
                        for i in range(self.ocp.n_phases - 1)

What is that second for for?

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tests/shard1/test_continuity_linear_continuous.py line 28 at r2 (raw file):

    solution = ocp.solve(Solver.IPOPT(_max_iter=5))

    print(solution.detailed_cost)

do not print?

[Ipuch]

Reviewable status: 3 of 6 files reviewed, 3 unresolved discussions (waiting on @pariterre)

---

tests/shard1/test_continuity_linear_continuous.py line 28 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

do not print?

Done.

---

bioptim/limits/phase_transtion_builder.py line 6 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

Factory?

Done.

---

bioptim/limits/phase_transtion_builder.py line 54 at r2 (raw file):

Previously, pariterre (Pariterre) wrote…

What is that second for for?

Done.

[pariterre]

Reviewed 3 of 3 files at r3, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Ipuch)