Fixed bug that was causing the update of the Constraint matrix with column/rows inverted. Moved the assignment of the bounds in expandProblem(i) method
for little performance improovement (and readability). CHanged return of prepareSoT() method to return the result of the various expandProblem() and addBounds() (before it was returning
always true. Added getTaskID() method to QPOasesTask class. Commented a print line in testYCartesian.