Add QCQP factor graph conversion#2550
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Modify for QCQP support for the BM methods.
…ct variables from the Burer–Monteiro solution. The vectorized form is not yet supported.
Add FromQcqpValue (Rot2/Rot3) and ExtractQcqpValues helpers in feature/convert_to_QCQP
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QCQP conversion, in progress with Jason and Avinash