Added support for policy search #21
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…ec uses that form
…emoved ODEProblem method
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Checklist
contributor guidelines, in particular the SciML Style Guide and
COLPRAC.
Additional context
Added support for ODEs with control inputs$f(x, u, p, t)$ . Doing so required some restructuring of how $f$ is called/how to specify that, so there are some breaking changes here.