added: optimal nonlinear constraint vectors in getinfo

[franckgaga]

This PR adds the optimal nonlinear constraint vectors in getinfo dictionnary for NonLinMPC and MovingHorizonEstimator. It does not make much sense to include the derivative information without the primal values. There is almost no impact on the performances since I used the value_and_jacobian method.

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.55%. Comparing base (ea1f2e3) to head (7d5952f).

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #294   +/-   ##
=======================================
  Coverage   98.54%   98.55%           
=======================================
  Files          28       28           
  Lines        4964     4967    +3     
=======================================
+ Hits         4892     4895    +3     
  Misses         72       72           

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