Fixed an indexing bug in the CN2_FACT...
Fixed indexing issues in CN2_FACT... solver related to the cond. Hess.
OKAY, fixed the CN2_FACT... algorithm

Forming of condensed Hessian should be fixed now.
Fixing CN2_FACT... solver. Input constrained case seems to work now.
Working on the CN2_FACT... solver

Both ctrl and state constraints should work now.