added: TrapezoidalCollocation for MovingHorizonEstimator

[franckgaga]

The PR #411 really did the heavy lifting for all the future transcription methods of the MovingHorizonEstimator. It was way easier than expected.

Still missing some tests with this transcription. Will do this tomorrow if I have time.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 32.07547% with 36 lines in your changes missing coverage. Please review.
✅ Project coverage is 97.81%. Comparing base (7ac8a4d) to head (0712237).

Files with missing lines	Patch %	Lines
src/estimator/mhe/transcription.jl	2.70%	36 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #425      +/-   ##
==========================================
- Coverage   98.38%   97.81%   -0.57%     
==========================================
  Files          29       29              
  Lines        6187     6227      +40     
==========================================
+ Hits         6087     6091       +4     
- Misses        100      136      +36     

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