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Solver performance analysis and value function unit-test

Carlos Mastalli requested to merge solver into devel

This PR contains very few changes that are listed as:

  1. Recording muLM and muV for analyses of DDP performance
  2. Re-factored the plot function for including point 1.
  3. Added the value function unit-test as discussed in one of our weekly meetings.

It shouldn't be problematic to merge in case of dramatic changes in the DDP solver.

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