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  ______    _____     _____    __   __   ______   
 /_____//  |  ___||  / ____||  \ \\/ // |      \\ 
 `____ `   | ||__   / //---`'   \ ` //  |  --  // 
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 /_//      `-----`    `----`     `-`'   `------`  
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Text this: Global convergence on an active set SQP for inequality constrained optimization