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[Major] Add "getLastCommand" method to simlplify API

Created by: flforget

_ add "getLastCommand" method to simlplify API _ "solveTrajectory" now return last solved command, also to simplify API _ Change convergence criterion for a correct one (convergence when cost stop changing) _ Add 2 more examples "Linear" and "Inverse pendulum" for future unitTests to come

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