Support for sparse Eigen matrices in Hpolytope class #1310

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Job	Run time
ubuntu-22.04 - clang++-11	53m 1s
ubuntu-22.04 - clang++-12	53m 38s
ubuntu-22.04 - clang++-13	52m 2s
ubuntu-22.04 - clang++-14	53m 8s
ubuntu-20.04 - clang++-8	51m 29s
ubuntu-20.04 - clang++-9	51m 20s
ubuntu-20.04 - clang++-10	52m 2s
ubuntu-20.04 - clang++-11	52m 7s
ubuntu-20.04 - clang++-12	51m 45s
	7h 50m 32s