Bolte, Jérôme <https://www.idref.fr/078638623>, Daniilidis, Aris <https://www.idref.fr/16193191X> and Lewis, Adrian <https://www.idref.fr/19863238X>  (2011) Generic Optimality Conditions for Semialgebraic Convex Programs.    Mathematics of Operations Research, 36 (1).  pp. 55-70.