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Fix adding nonempty path objectives to empty objective

Jorn Baayen requested to merge zero-objective-fix into master

CollocatedIntegratedOptimizationProblem: If self.objective() returns a 0x0 MX, do not use it as a base to add path objectives to, as the result would still be 0x0.

This is due to the fact that

ca.MX() + 1 = ca.MX()

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