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| notation | Notation | 
| norm_squared | Norm Squared of a Vector | 
| join_vector | Join Two Vectors | 
| sparse_cppad2eigen | Convert A CppAD Sparse Matrix to an Eigen Sparse Matrix | 
| solve_lower_cppad | Solve a CppAD Sparse Lower Triangular System | 
| jac_constraint | Compute Jacobian of Implicit Function Constraints |