Defining data structure for LQ dynamic optimization

[dlcole3]

This PR provides 3 things in response to issue "Defining data structure for LQ dynamic optimization".

• It defines the struct LQDynamicData and provides a constructor for this struct. There are two constructor options:
  • It can build the LQDynamicData by passing the Q, R, A, B matrices, s0 vector, and the N time steps with optional arguments for sl, su, ul, and uu.
  • It can build the LQDynamicData by passing ns, nu, and N. It initializes empty arrays for Q, R, A, and B and sets s0 to a zero vector and defaults to infinite bounds for states and inputs. These values can then be adjusted with the API functions
• It defines a new LQDynamicModel(::LQDynamicData{T,S,M}; condense = false) where {T,S,M} in the place of build_QM.
• It defines functions for APIs, so that attributes of LQDynamicData can be modified or queried. The only exception is that ns, nu, and N cannot be modified.

[codecov-commenter]

Codecov Report

Merging #7 (be33c94) into main (a0d1eef) will decrease coverage by 30.48%. The diff coverage is 51.42%.

@@             Coverage Diff             @@
##             main       #7       +/-   ##
===========================================
- Coverage   91.93%   61.45%   -30.49%     
===========================================
  Files           1        1               
  Lines          62      179      +117     
===========================================
+ Hits           57      110       +53     
- Misses          5       69       +64     

Impacted Files	Coverage Δ
src/DynamicNLPModels.jl	61.45% <51.42%> (-30.49%)	:arrow_down:

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