feat: Add control-free optimal control problems support#175
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- Add ControlFreeModel and WithControlModel type aliases for dispatch - Implement Flow(ocp) and Flow(ocp, g, μ) for control-free problems - Add new makeH variants passing Float64[] as control - Add __create_hamiltonian overloads for control-free OCPs - Add PreconditionError guards for existing Flow(ocp, u) methods - Add comprehensive tests (17 new tests, all passing) - Follow all project standards (SOLID, documentation, testing, exceptions) - Support state constraints and multipliers for control-free problems - Maintain full backward compatibility (45/45 tests passing) Closes #173
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- Bump version from 0.8.20 to 0.8.21-beta for control-free features - Add comprehensive CHANGELOG entry for 0.8.21-beta with all control-free functionality - Add missing 0.8.20 version entry for auto-formatter PR - Document 17 new tests and 45 total passing tests - Maintain changelog format standards with proper sectioning
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Closes #173