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) or scalars, upper and lower bounds for B</pre><pre>