Speed up for large problems (avoid unique rows)
Overload value on constraints. Fixes #237
Fixes #236
Wrong variable name used in spy. Fixes #239
Support for qpoases 3.0. Fixes #241
Speed up for trivial cases
First draft of new function
Fixes #240
Clean up numerical model from garbage (and geenrate an options structure if missing)
Guard against inf in trivial solution when solver wasn't called as there were no constraints or objective