doc: prediction and defect matrices of MultipleShooting for MovingHorizonEstimator

[franckgaga]

The prediction and state defect equations appear in the "Internals -> State Estimatiors -> Estimator Construction" section of the online documentation. This is mainly useful for the developers. Having them explicitly and cleanly transcribed in math helped me a lot in the past for debugging or improving the MPC codebase.

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 98.40%. Comparing base (465faf7) to head (a141f66).
⚠️ Report is 9 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #414   +/-   ##
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  Coverage   98.40%   98.40%           
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  Files          29       29           
  Lines        6130     6130           
=======================================
  Hits         6032     6032           
  Misses         98       98           

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