ENH: Update QuadProg to use Eigen classes.
STYLE: Remove debugging code.
PERF: Replace vnl with Eigen cholesky decomposition.
PERF: Provide custom allocation to ensure alignment

As documented on http://eigen.tuxfamily.org/dox-devel/group__TopicStlContainers.html

special care needs to be taken to ensure alignment in Eigen.
WIP: Fix items for consolidations.
WIP: this version compiles.
WIP: Working to get new vectors the correct length.
ENH: All tests pass right now.
WIP:  Removed vnl so that we can enforce Eigen consistency.
PERF: Constant value matrix are initialized once