Roll back some of the previous changes: buggy and do not improve algorithm overall.
Debugged line search, esp. local minimum condition and quadratic interpolation before first break point
Replaced projected gradient iteration with a much simpler approximate Cauchy point calculation.
Updated handling of negative curvature.
A couple more bugs fixed.
Added interpolation to local min detection phase.
Fixed bug computing slope for interpolation.
Removed "local optimality" detection for now.
Added more debugging info.
Some code cleanup, using min breakpoint to start Cauchy point search.
Implemented a convergence condition based on the relative change in x in the QP. Testing in progress.
Added stopping condition for negative curvature directions that take point to trust region boundary.
Also, apply stopping conditions based on change in q and change in x in BQP trust region solver.
Code cleanup: removed unnecessary comments and class methods that are no longer used.
Merge branch 'bqp-fixes-2' into auglag-QN