debug: InternalModel with TrapezoidalCollocation now works

[franckgaga]

It was crashing before this PR. The test with TapezoidalCollcation now use InternalModel.

This is a quick fix but in the long run I should treat the defect of the stochastic state as linear equality constraints:

1. It will simplify the implementation of the nonlinear equality constraint methods for all CollocationMethod
2. It will me presumably cheaper.

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.42%. Comparing base (bf93872) to head (4c35776).

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #321      +/-   ##
==========================================
+ Coverage   98.38%   98.42%   +0.03%     
==========================================
  Files          29       29              
  Lines        5389     5397       +8     
==========================================
+ Hits         5302     5312      +10     
+ Misses         87       85       -2     

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[franckgaga]

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