If we take a a a 12 , a a a 13 , • • • , a a a 32 as constants, then all the constraints are linear.
the constraints can be written as A 1 g g g 1 + A 2 g g g 2 + A 3 g g g 3 = 0 0 0 where A 1 , A 2 , and A 3 are matrices that can be constructed from a a a 12 , a a a 13 , • • • , a a a 32 .