add friction model "Hofer" #1606

Job	Run time
docs_check (3.11)	12m 47s
build (3.9, ubuntu-latest)	1m 43s
linting (3.11, ubuntu-latest)	1m 2s
build (3.9, windows-latest)	3m 52s
linting (3.11, windows-latest)	6m 4s
build (3.10, ubuntu-latest)	1m 38s
relying (3.9, ubuntu-latest)	1m 56s
tutorial_tests (3.9, ubuntu-latest)	2m 9s
build (3.10, windows-latest)	4m 4s
relying (3.9, windows-latest)	4m 33s
tutorial_tests (3.9, windows-latest)	6m 36s
relying (3.10, ubuntu-latest)	2m 0s
build (3.11, ubuntu-latest)	4m 4s
tutorial_tests (3.10, ubuntu-latest)	2m 4s
relying (3.10, windows-latest)	5m 3s
build (3.11, windows-latest)	6m 41s
tutorial_tests (3.10, windows-latest)	6m 21s
relying (3.11, ubuntu-latest)	2m 9s
build (3.12, ubuntu-latest)	1m 47s
tutorial_tests (3.11, ubuntu-latest)	2m 18s
relying (3.11, windows-latest)	8m 14s
build (3.12, windows-latest)	3m 56s
tutorial_tests (3.11, windows-latest)	7m 10s
relying (3.12, ubuntu-latest)	2m 1s
tutorial_tests (3.12, ubuntu-latest)	2m 6s
relying (3.12, windows-latest)	7m 9s
tutorial_tests (3.12, windows-latest)	5m 55s
	1h 55m 22s

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