Adding `SynergyController`

[nickbianco]

Fixes issue #3677

Brief summary of changes

Adds SynergyController, a controller that computes controls for a model based on a linear combination of a set of Input control signals and a set of synergy vectors. These changes also include a new utility function for performing basic non-negative matrix factorization, and a sub-example in exampleMocoInverse demostrating how to use SynergyController with Moco.

Other changes include:

• A new CommonUtilities function for performing basic non-negative factorization, to support the new example.
• An update to report.py and osimMocoTrajectoryReport.m for plotting Input controls.
• A bug fix in MocoTrajectory where the getValuesTrajectory, getSpeedsTrajectory, etc., functions were returning the incorrect matrices if the trajectory was not organized a specific way.
• Updated the bindings to support MocoTrajectory methods for Input controls (e.g., getInputControl()).

Testing I've completed

testMocoControllers.cpp was refactored to use SynergyController.cpp in favor of the custom TriplePendulumController class. Added unit tests specific SynergyController.

Looking for feedback on...

CHANGELOG.md (choose one)

• updated.

[perf-win]

Performance analysis

Platform: Windows, self-hosted runner

Test Name	lhs [secs]	stderr [secs]	rhs [secs]	stderr [secs]	Speedup
Arm26	0.37	0.00	0.36	0.00	1.03
ellipsoid_wrap	4.36	0.01	4.34	0.00	1.00
ellipsoid_wrap_function_based_paths	3.61	0.01	3.63	0.01	0.99
Gait2354	0.44	0.00	0.43	0.00	1.02
MocoSlidingMass	1.60	0.01	1.63	0.02	0.98
MocoSquatToStand	14.94	0.04	14.94	0.07	1.00
passive_dynamic	5.88	0.01	5.85	0.02	1.00
passive_dynamic_noanalysis	3.63	0.06	3.54	0.02	1.03
RajagopalModel	9.53	0.10	9.70	0.13	0.98
ToyDropLanding	14.53	0.14	14.52	0.06	1.00
ToyDropLanding_fbp_stepwisereg	13.03	0.06	12.93	0.06	1.01
ToyDropLanding_function_based_paths	13.28	0.04	13.42	0.09	0.99
ToyDropLanding_nomuscles	0.60	0.00	0.63	0.00	0.95

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This change is 

[nickbianco]

@aymanhab or @carmichaelong, do either of you have bandwidth for a review?

@AlbertoCasasOrtiz, if you're interested in learning more about opensim-core, tagging along as a second reviewer here would be a good place to start!

[nickbianco]

I've made a few updates: added Python and Matlab versions of the new example, and changes to the bindings to support these examples (and InputController-derived types in Moco in general).

[nickbianco]

@carmichaelong @AlbertoCasasOrtiz I made a few small changes, but this is now ready for review.

[nickbianco]

Thanks @carmichaelong!

[nickbianco]

The failing tests on the Windows2022 are unrelated, so I'm merging.

Thanks @carmichaelong and @AlbertoCasasOrtiz!