[mlpack-git] [mlpack] SDP should deal with linearly dependent constraints somehow (#404)

[Stephen Tu]

@rcurtin: this task is slightly different than #578 (it took me a while to realize this). This tasks deals w/ the issue that currently the IP code assumes the nullspace of the A operator is trivial. This is not an easy task IMO, and I'm not sure what the current benefits are (nobody has ever complained about this). 

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