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Implement implicit forms in the transport operators

Valentin Carlier requested to merge variational_polar into devel

Core changes:

Implement the fix of #245 described in !502 (closed)

Model-specific changes:

The transport operators in the Variational propagators depend on the choice of a value for the form. Before I was using the value at time n making the solve of the transport operator completely explicit. I am now computing an "implicit approximation" by solving an implicit transport equation with the velocity being fixed to the velocity of the previous time step.

This makes the solver more stable and avoid blowing up due to oscillations.

The previous implementation can still be used as it was implemented using a parameter implicit_transport.

Also added the possibility to have information about the Newton solve when using info : True in parameters.

Documentation changes:

Update the documentation of the Variational propagators to take this new feature in account.

Edited by Valentin Carlier

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