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LinearizedOrderGPMixin: Use fast_newton to determine coefficients

Tjerk Vreeken requested to merge lineargp-use-fast-newton into master

Unlike IPOPT, the fast_newton approach is always available even if CasADi was compiled with minimal external solver support.

Not a deciding factor for switching, but interesting nonetheless, is that fast_newton takes about 444 us for an order-2 fit, whereas nlpsol with IPOPT takes 16 ms.

Note that the resulting coefficients are not exactly the same. Optimization results can therefore be slightly different.

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