Suggestion: ocp module and function naming

[krishauser]

The name "ocp" is a little obscure, since this isn't really a standard acronym. It either should be clearly described in the tutorials and docs, or perhaps changed to something more explicit to help as breadcrumbs for beginners. Suggest "task" or "optimalcontrol" or "controlproblem"?

[williamedwards]

This is probably a good idea. Task is already in use, so will update to "controlproblem", while retaining ocp as an alias for backwards compatibility.