debug: correctly fill the nonlinear equality constraints for MovingHorizonEstimator with non-SingleShooting

[franckgaga]

For MultipleShooting and TrapezoidalCollcation with NonLinModel, the vector was not correctly filled when $N_k < H_e$ (at the beginning). As a consequence, a getinfo call was crashing when $N_k < H_e$. I'm adding a new getinfo test to catch this.

The correct number of nonlinear equality constraints for the MovingHorizonEstimator with these transcriptions is nx*Nk (not nx̂*Nk, the defects of the stochastic states, the integrating states, are excluded).

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.36%. Comparing base (56aa83a) to head (2d34426).
⚠️ Report is 4 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #426   +/-   ##
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  Coverage   98.36%   98.36%           
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  Files          29       29           
  Lines        6229     6229           
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  Hits         6127     6127           
  Misses        102      102           

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