ENH Add logic to use many RHS on the ODE solvers
Using a single rhs is limiting in the case we wan to add other RHS values. Like is the case of contact forces.
Clean some of the interfaces as well. Add a few more matrices to the solvers test.
Using a single rhs is limiting in the case we wan to add other RHS values. Like is the case of contact forces.
Clean some of the interfaces as well. Add a few more matrices to the solvers test.