!  ---------------------------------------------------------------------------

!  Details of how constraints are handled

!  =========================================
!  For equality constraints: c_i( x) = c^e_i
!  =========================================

!  1_1 problem -
!  -----------

!    Define extra variables c_i and s_i

!          c_i(x) - c_i = c_i^e
!          s_i - c_i >= 0
!          s_i + c_i >= 0
!  (maybe) s_i >= 0

!    Term rho s_i in objective for each constraint

!  1_infty problem -
!  ---------------

!    Define extra variables c_i and s

!          c_i(x) - c_i = c_i^e
!          s - c_i >= 0
!          s + c_i >= 0
!  (maybe) s >= 0

!    Single term rho s in objective

!  =====================================================
!  For inequality constraints: c_i^l <= c_i( x) <= c^u_i
!  =====================================================

!  1_1 problem -
!  -----------

!    Define extra variables c_i and s_i

!          c_i(x) - c_i = c_i^l
!          s_i - c_i >= c_i^l - c_i^u
!          s_i + c_i >= 0
!          s_i >= 0

!    Term rho s_i in objective for each constraint

!  1_infty problem -
!  ---------------

!    Define extra variables c_i and s

!          c_i(x) - c_i = c_i^l
!          s - c_i >= c_i^l - c_i^u
!          s + c_i >= 0
!          s >= 0

!    Single term rho s in objective

!  ============================================
!  For inequality constraints: c_i^l <= c_i( x)
!  ============================================

!  1_1 problem -
!  -----------

!    Define extra variables c_i and s_i

!          c_i(x) - c_i = c_i^l
!          s_i + c_i >= 0
!          s_i >= 0

!    Term rho s_i in objective for each constraint

!  1_infty problem -
!  ---------------

!    Define extra variables c_i and s

!          c_i(x) - c_i = c_i^l
!          s + c_i >= 0
!          s >= 0

!    Single term rho s in objective

!  ============================================
!  For inequality constraints: c_i( x) <= c^u_i
!  ============================================

!  1_1 problem -
!  -----------

!    Define extra variables c_i and s_i

!          c_i(x) - c_i = c_i^u
!          s_i - c_i >= 0
!          s_i >= 0

!    Term rho s_i in objective for each constraint

!  1_infty problem -
!  ---------------

!    Define extra variables c_i and s

!          c_i(x) - c_i = c_i^u
!          s - c_i >= 0
!          s >= 0

!    Single term rho s in objective

!  ---------------------------------------------------------------------------
