m (Nx,1), starting point
%   c ...... [optional] dim (Nx,1), coefficients of the linear obj. function,
%            considered a zero vector if not present
%   H ...... [optional] dim (Nx,Nx), Hessian for the obj. function,
%            considered a zero matrix if not present
%   lbx,ubx. [optional] dim (Nx,1) or scalars (1x1), lower and upper bound
%            defining the box constraints
%   B ...... [optional] dim(Ng,Nx), matrix defining the linear constraints
%   lbg,ubg. [optional] dim (Ng,1) 