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Implement Lie-group integrators for density propagation #365

@stestoll

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@stestoll

See Rasulov et al, Simulation and design of shaped pulses beyond the piecewise-constant approximation, J. Magn. Reson. 353, 107478 (2023) https://doi.org/10.1016/j.jmr.2023.107478 (benefits shown in Figs. 2 and 3)

See Spinach functions isergen and iserstep

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