Added support for `K` state elimination

[dlcole3]

Added both sparse and condensed support for K state elimination.

• Added attribute to LQDynamicData with new type for K::MK. This allows for multiple dispatch of different functions.
• Redefined _build_condensed_lq_dynamic_model and _build_sparse_lq_dynamic_model for different types of K. The matrix K influences problem type and constraint and variable bounds.
• Transformed A and E matrices within _build_sparse_lq_dynamic_model for when K is defined.
• Added _build_sparse_J3 function that is called within the _build_sparse_lq_dynamic_model when K <: AbstractMatrix. This converts $u$ variable bounds to algebraic constriants for $v$
• Redefined _build_condensed_blocks to just build the block matrices of the condensed problems
• Defined _build_condensed_H_blocks that returns H, h, and h0. Defined two forms of the function depending on K type
• Defined _build_condensed_G_blocks that returns J, lcon, and ucon.
• Updated sparse_lq_test.jl to include a K matrix
• Updated runtests.jl to test the problem with a K matrix, with a K matrix and S matrix, with a K matrix and S matrix and partial bounds on $u$, and with the K matrix and no bounds.

[codecov-commenter]

Codecov Report

Merging #23 (41976f0) into main (2fb4f31) will increase coverage by 2.27%. The diff coverage is 99.41%.

@@            Coverage Diff             @@
##             main      #23      +/-   ##
==========================================
+ Coverage   94.05%   96.32%   +2.27%     
==========================================
  Files           1        1              
  Lines         353      599     +246     
==========================================
+ Hits          332      577     +245     
- Misses         21       22       +1     

Impacted Files	Coverage Δ
src/DynamicNLPModels.jl	96.32% <99.41%> (+2.27%)	:arrow_up:

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[sshin23]

Looks good @dlcole3