Bugfix

Signed-off-by: Matthias Kümmerer <matthias@matthias-k.org>
Better handling of inequality constraints

Signed-off-by: Matthias Kümmerer <matthias@matthias-k.org>
Make some default scipy options usable for ipopt, better exception if option is invalid

Signed-off-by: Matthias Kümmerer <matthias@matthias-k.org>
More Tests

Signed-off-by: Matthias Kümmerer <matthias@matthias-k.org>