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merge latest changes from ReForm

Max Lyon requested to merge lyonm/merge-from-ReForm into master
  • Implement the MISolver stack with Eigen instead of GMM.
  • Make GMM an optional dependency. (CoMISo has only one remaining required dependency for using the constrained mixed integer solver, Eigen3.)
  • Two new solvers
    • Solver/MultiDimConstrainedSolver as a wrapper around ConstrainedSolver to simplify solving problems with multiple independent dimensions.
    • Solver/SubProblemSolver as a wrapper around MultiDimConstrainedSolver which automatically remaps all used indices to the range 0..n suitable for solving.

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