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[constraint] Improve speed in constructing A matrix in LCP #365

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Job	Run time
ubuntu-latest-cp38-manylinux_x86_64	14m 34s
ubuntu-latest-cp39-manylinux_x86_64	14m 58s
ubuntu-latest-cp310-manylinux_x86_64	15m 3s
ubuntu-latest-cp311-manylinux_x86_64	15m 8s
ubuntu-latest-cp312-manylinux_x86_64	15m 6s
macos-latest-cp312-macosx_x86_64	1h 25m 6s
Check format	8s
windows-latest-cp312-win_amd64	8m 40s
windows-latest-cp312-win_arm64	8m 54s
upload_pypi	0s
	2h 57m 37s