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Switch to new usage of interior penalty in Navier-Stokes-DG

Marian Piatkowski requested to merge feature/improve-ns-dg-penalty-impl into master

The example applications dgstokes.cc and dgnavierstokesvecfem.cc show how to use the new interior penalty implementation.

This is related to the merge request dune-pdelab!161 (merged) which has been merged by now.

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