Fix PSD Constraint Ordering for Clarabel #73
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Diffcp requires that the `A` matrix conforms to the SCS format, including that PSD constraints refer to the columnwise stacking of the lower triangle. Clarabel expects that the PSD constraints refer to the upper triangle, leading to an incorrect result when using Clarabel with PSD constraints. A unit test showing the issue was added to test_clarabel. In this test, X is a 3x3 PSD matrix and we wish to minimize X00 - X22 while constraining the trace to be equal to 1. Before this change, Clarabel reports success, but the resulting matrix isn't even PSD. After this change, we get the expected result.
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