#746 Issue Fixed [get_nlp in controller could be renamed to nlp ]

[Alpha2Shahiri]

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This change is 

[Alpha2Shahiri]

Regarding our last meeting (Removing some lines of Mayer (Track_Force and Control), seems that ../../bioptim/examples/stochastic_optimal_control/obstacle_avoidance_direct_collocation is using Mayer:
"ObjectiveFcn.Mayer.MINIMIZE_CONTROL" Probably this test: def test_obstacle_avoidance_direct_collocation()
The other test were passed and rename was done. [get_nlp to nlp]

[pariterre]

Reviewed 9 of 9 files at r1, 1 of 1 files at r2, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @Alpha2Shahiri)

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bioptim/interfaces/solver_options.py line 685 at r2 (raw file):

        type: SolverType = SolverType.ACADOS
        _qp_solver: str = "PARTIAL_CONDENSING_HPIPM"  # FULL_CONDENSING_QPOASES
        _hessian_approximation: str = "GAUSS_NEWTON"

Please do not mix pull requests together

[pariterre]

This PR won't merge because of the conflict, please resolve :)

[pariterre]

This will not merge as the changes for 3.2.0 are too major.