SolutionGuarantor: update doc (minor)
Read parameters for explicit constraints

Explicit constraints (SegmentConstraints) can now specify segment
coefficients, constraint inequality relation, and value.
Merge commit 'a6868e6b258bf8d7a6e0c468ec40dc90748a7e85'

* commit 'a6868e6b258bf8d7a6e0c468ec40dc90748a7e85':
  Read parameters for explicit constraints
  SolutionGuarantor: update doc (minor)