Added a "v_stateSlack" slack variable, which allows for penalizing deviations in state variables in the objective function.

This also required changing the way "v_state" variables were bounded, and they now require separate constraints called "q_minState" and "q_maxState". A new set called "gnBoundState" was also added to simplify the process of generating the new constraints only when necessary. NOTE! The possibility of "ts_nodeState" to impose bounds only on select timesteps still causes BackBone to create "v_stateSlack" variables for all "ft(f, t)". The way the "v_stateSlack" is implemented in the objective function is also only a simple penalty, which will probably require some customizing later.