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discrete continuation for parametric ocp, rho and final times #177

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Job	Run time
Julia 1.9 - ubuntu-latest - x64	8m 22s
Julia 1.9 - macOS-latest - x64	10m 12s
Julia 1.10 - ubuntu-latest - x64	6m 53s
Julia 1.10 - macOS-latest - x64	9m 14s
	34m 41s