Added support for constant term in the linear dynamic constraints

[dlcole3]

For $x_{t + 1} = Ax_t + bu_t + w$, The vector w changes the constraint bounds and the linear/constant terms of the objective function. I derived the equations for these and updated the SparseLQDynamicModel and DenseLQDynamicModel to operate with w. I added tests to check this, and I updated the JuMP model that we used for comparison. This also required updating the DenseLQDynamicBlocks significantly to store the needed data to reset s0.

For reference, the equation used for deriving this is $\boldsymbol{x} = \boldsymbol{A} \hat{x} + \boldsymbol{B} \boldsymbol{v} + \tilde{\boldsymbol{A}}\boldsymbol{w}$. In this case, $\tilde{\boldsymbol{A}}$ is the same format as $\boldsymbol{B}$ but with the identity matrix in place of the $B$ matrix.

[codecov-commenter]

Codecov Report

Merging #45 (ca4f58a) into main (7777155) will increase coverage by 0.09%. The diff coverage is 99.52%.

@@            Coverage Diff             @@
##             main      #45      +/-   ##
==========================================
+ Coverage   97.98%   98.08%   +0.09%     
==========================================
  Files           4        4              
  Lines        1590     1721     +131     
==========================================
+ Hits         1558     1688     +130     
- Misses         32       33       +1     

Impacted Files	Coverage Δ
src/LinearQuadratic/LinearQuadratic.jl	67.92% <50.00%> (-0.71%)	:arrow_down:
src/LinearQuadratic/dense.jl	100.00% <100.00%> (ø)
src/LinearQuadratic/sparse.jl	100.00% <100.00%> (ø)
src/LinearQuadratic/tools.jl	96.61% <100.00%> (+0.19%)	:arrow_up:

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[sshin23]

@dlcole3 can't w be time-varying? When we have w, typically we have time-variability in w

[dlcole3]

@dlcole3 can't w be time-varying? When we have w, typically we have time-variability in w

@sshin23 It could be time varying, and that would be a relatively simple change to make. I will update that. In the case of the application in the second example problem (oscillating masses), they are not time varying.