OpenMDAO / dymos / 14929824587

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Control refactor (#1174)

* Refactored ControlInterpComp so that fewer jacobians are saved internally and there is much more commonality between full and polynomial controls.
Updated multiple shooting update comp so that partials are stored as floats instead of ints.

* added some tests of boundary value and rates.

* pep8 cleanup

* docstring cleanup

* bump oldest supported scipy to 1.11 due to an issue in the control rate interpolation wtih 1.9

* GaussLobatto did not like having so many segments in the rate2 target test.

* the boundary values and rates of controls are now connected to birkhoff boundary ode.

* cleanup

167 of 169 new or added lines in 5 files covered. (98.82%)

33533 of 36039 relevant lines covered (93.05%)

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