Use solution object in all solvers

[ErikQQY]

Refactored all boundary conditions' definitions to use the solution object. So this is definitely a breaking release, all downstream packages utilizing BoundaryValueDiffEq.jl(if not using Shooting methods) would be affected.

Some affected packages(some from JuliaHub direct dependents):

• BVProblemLibrary.jl
• SciMLBenchmarks.jl
• DiffEqDocs.jl
• DifferentialEquations.jl
• Manifolds.jl
• QuanEstimation.jl
• InformationGeometry.jl

[github-actions]

Benchmark Results

	master	25f6c2b...	master/25f6c2bc1bbe6d...
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK2()	6.77 ± 0.18 ms	6.67 ± 0.17 ms	1.02
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK3()	2.56 ± 0.13 ms	2.59 ± 0.12 ms	0.99
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK4()	0.915 ± 0.058 ms	0.91 ± 0.047 ms	1.01
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK5()	0.958 ± 0.074 ms	0.96 ± 0.073 ms	0.997
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK6()	1.06 ± 0.088 ms	1.07 ± 0.12 ms	0.997
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = false)	1.92 ± 0.57 ms	1.93 ± 0.58 ms	0.998
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = true)	3.53 ± 0.31 ms	3.53 ± 0.26 ms	1
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.0525 ± 0.006 s	0.0532 ± 0.0057 s	0.987
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = true)	0.0667 ± 0.0087 s	0.0648 ± 0.0092 s	1.03
Simple Pendulum/IIP/Shooting(Tsit5())	0.22 ± 0.075 ms	0.244 ± 0.076 ms	0.902
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK2()	0.0388 ± 0.0031 s	0.0386 ± 0.0032 s	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK3()	11.3 ± 0.68 ms	11.3 ± 0.71 ms	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK4()	3.29 ± 0.19 ms	3.28 ± 0.19 ms	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK5()	3.38 ± 0.31 ms	3.34 ± 0.27 ms	1.01
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK6()	3.5 ± 0.22 ms	3.48 ± 0.3 ms	1
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = false)	3.34 ± 2.5 ms	3.41 ± 2.6 ms	0.979
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = true)	6.02 ± 4.8 ms	5.96 ± 4.4 ms	1.01
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.0992 ± 0.0042 s	0.098 ± 0.0033 s	1.01
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = true)	0.12 ± 0.0091 s	0.118 ± 0.0094 s	1.01
Simple Pendulum/OOP/Shooting(Tsit5())	0.592 ± 0.032 ms	0.596 ± 0.039 ms	0.994
time_to_load	7.15 ± 0.035 s	7.15 ± 0.048 s	1

Benchmark Plots

A plot of the benchmark results have been uploaded as an artifact to the workflow run for this PR.
Go to "Actions"->"Benchmark a pull request"->[the most recent run]->"Artifacts" (at the bottom).

[ChrisRackauckas]

Just missing a test for the array indexing.