feat(osqp_interface): add interface to give csc matrix directly to enable warm start for computation time improvement.

[takayuki5168]

Related Issue(required)

#347

Description(required)

Add a new interface in osqp_interface to enable warm-start which improves the computation time of the optimization. Details are below.

• added initializer of osqp_interface with csc matrix, and matrix update functions with csc matrix
• added a function to validate the size of P, q, A, l, u.
• fixed the existing test and added test for new functions

NOTE: we do not have to care about the existing applications which use osqp_interface since the existing member functions' behavior of osqp_interface will not change.

Review Procedure(required)

run test

Related PR(optional)

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