Add a tutorial about handling constraints at intermediate times. See this [example](https://infiniteopt.github.io/InfiniteOpt.jl/stable/examples/Optimal%20Control/hovercraft). See also https://github.com/control-toolbox/OptimalControl.jl/issues/482.
Add a tutorial about handling constraints at intermediate times.
See this example.
See also control-toolbox/OptimalControl.jl#482.