Constraints

Interesting review:

• https://www.cs.purdue.edu/homes/cmh/distribution/PapersChron/ConstraintSurvey2010.pdf

This code might be a good starting point

• https://github.com/cmerrill/sketchsolve

Current idea is to formulate everything as numerical optimization problem. It would be good to have a minimal dependency solution, e.g.

• https://github.com/yixuan/LBFGSpp
• https://eigen.tuxfamily.org/dox/unsupported/classEigen_1_1LevenbergMarquardt.html