Design and imlpement OCPMaker

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About: Design and implement a wrapper that will facilitate the construction of optimal control problems.

Details: The user will provide the main ingredients of the optimal control problem and the OCPMaker (or OCPBuilder) will construct a parametric optimisation problem. The main ingredients of an optimal control problem are:

• the system dynamics, $x_{t+1} = F(x_t, u_t)$
• the prediction horizon, $N$
• the stage cost function, $\ell(x, u)$
• the terminal cost function, $V_f(x)$
• input constraints, $u_t \in U$
• possible state-input constraints of the form $g(x_t, u_t) \leq 0$
• set exclusion constraints, $x_t \notin C$

Additional context:: PR #284 has stalled; a fresh approach is required. The development will be in Python.