revive basic multiple shooting
remove old (mkSeq . unSeq) workaround
Ocp documentation: make p not a function of time
split DirectCollocation module into submodules
make SX instance of Show
move Plot-ho-matic source into hascm

This prepares for the switch to a dynamic, interactive plot server.
The only change in the plot source is removing the ReadMaybe module which was used for portability.
add some functions to dmatrix/sxmatrix
make plotter use DynCollTraj / CollTrajMeta
remove old module Spring.hs
run hlint and fix almost all warnings