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Rework default interface for Problem class #254

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@tlunet

Following discussion #253, set a more generic interface for the problem class for more generic ODE, with a default implementation considering the simple generic ODE system

$$\frac{dU}{dt} = f(U,t)$$

Add full documentation in the Problem class.

⚠️ this should probably be done once #244 is merged into v6, and before going through the associated rework of all problems implementations (#255).

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