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return the tuple of symbols (might be undefined for variable if none) for state, control, variable (if any) and constraint associated with dynamics discretisation
this constraint needs to be name (not the case currently)
store these infos in p_ocp and add when defining build_exa function (that now returns a pair = ExaModel, tuple of symbols)
update tests in CTParser and stuff in CTDirect (look for get_build_exa calls)
remove ) in comment on @def_exa
code = concat(code, :($pref.build($p_ocp, build_examodel = $build_exa))) with a ;
p_ocpand add when definingbuild_exafunction (that now returns a pair = ExaModel, tuple of symbols)get_build_exacalls))in comment on@def_exacode = concat(code, :($pref.build($p_ocp, build_examodel = $build_exa)))with a;