Implemented time in dynamic

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Codecov Report

Attention: 14 lines in your changes are missing coverage. Please review.

Comparison is base (4e90df7) 78.22% compared to head (c0e1952) 78.32%. Report is 10 commits behind head on master.

Files	Patch %	Lines
bioptim/limits/constraints.py	14.28%	6 Missing :warning:
bioptim/limits/penalty.py	25.00%	3 Missing :warning:
bioptim/optimization/solution/solution.py	94.91%	3 Missing :warning:
bioptim/limits/multinode_penalty.py	50.00%	1 Missing :warning:
bioptim/optimization/optimization_variable.py	83.33%	1 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #843 +/- ## ========================================== + Coverage 78.22% 78.32% +0.10% ========================================== Files 140 140 Lines 16189 16232 +43 ========================================== + Hits 12664 12714 +50 + Misses 3525 3518 -7 ``` | [Flag](https://app.codecov.io/gh/pyomeca/bioptim/pull/843/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=pyomeca) | Coverage Δ | | |---|---|---| | [unittests](https://app.codecov.io/gh/pyomeca/bioptim/pull/843/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=pyomeca) | `78.32% <90.14%> (+0.10%)` | :arrow_up: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=pyomeca#carryforward-flags-in-the-pull-request-comment) to find out more.

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pyomeca / bioptim