OpenMDAO / dymos / 5402354169

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Implicit duration (#939)

* Added duration balance function and introspection to go with it

* fixed incorrect error messages

* added tests to check error messages

* Minor tweaks to the test problems

* Formatting fixes

* Removed pyoptsparse and objectives

* fixed an issue where the flag for implicit duration wasn't checked before setup and configure

* Fixed an error in condition

* Changed driver to ScipyOptimizeDriver

* Fixed codestyle issues

* Renamed add_duration_balance to set_duration_balance

* Fixed a bug in introspection where shape was checked before being specified

* Added setup and configure methods for shooting and analytic phases

* changed checks for when to add time extents ivc

* Changed problem to be single phase and to use snopt

* fixed formatting

* fixed shooting test problem by adding an additional error raise

* fixed test problem for docs by adding optimizer settings

* Added documentation

* added notebook to git

* Fixed an error where states were incorrectly labeled

* Fixed errors in documentation and typoes

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Co-authored-by: Kaushik Ponnapalli <kaushik.s.ponnapalli@nasa.gov>

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