feat: final parity changes with MATLAB

[john-halloran]

This is a cleanup PR that brings parity (when other open PRs also merged) with MATLAB on a few remaining points. Since we now converge just as fast, we can use fewer iterations. We can also switch to a faster path when possible, and log the objective function.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 74.28%. Comparing base (d7586bc) to head (af620e2).
⚠️ Report is 12 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #205      +/-   ##
==========================================
- Coverage   77.50%   74.28%   -3.22%     
==========================================
  Files           3        3              
  Lines          40       35       -5     
==========================================
- Hits           31       26       -5     
  Misses          9        9              

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[sbillinge]

please see comments. @john-halloran I will merge, but please act on the comments if you can.

[sbillinge]

Don't change any of these, but moving forward, please use the group standard that descriptions start with "The". In most cases "The" can just be added at the beginning of the existing description. But as I said, don't bother fixing this here, just use the pattern moving forward.

[john-halloran]

Thanks for the reminder, will do.

[sbillinge]

@john-halloran this needs conflict resolution