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Convert optimization problem to solver form

`problem = prob2struct(prob)`

The basis for the problem structure is an implicit ordering of all problem variables
into a single vector. The order of the problem variables is the same as the order of the
`Variables`

property in `prob`

. See
`OptimizationProblem`

.

For example, suppose that the problem variables are in this order:

`x`

— a 3-by-2-by-4 array`y`

— a 3-by-2 array

Then the implicit variable order is as if the problem variable is ```
vars =
[x(:);y(:)]
```

.

The first 24 elements of `vars`

are equivalent to
`x(:)`

, and the next six elements are equivalent to
`y(:)`

, for a total of 30 elements. The lower and upper bounds
correspond to this variable ordering, and in this example, each linear constraint matrix
has 30 columns.