Implement hrep from vrep for VPolygon

[mforets]

We have hrep -> vrep, but we are missing the converse.

[schillic]

This is just adding an edge for each consecutive pair of vertices, right? And I think this is optimal.
The constraints should be sorted automatically (CCW) if we start with the first edge between the first and second vertex. Below is the code where the LinearConstraint generation is still missing.

function tohrep(P::VPolygon{N})::AbstractHPolygon{N} where {N<:Real}
    @inline function to_lc(p1::Vector{N}, p2::Vector{N})::LinearConstraint{N}
        # TODO
    end

    n = length(P.vertices_list)
    constraints_list = Vector{LinearConstraint{N}}(n)
    for i in 1:n-1
        constraints_list[i] = to_lc(P.vertices_list[i+1], P.vertices_list[i])
    end
    constraints_list[n] = to_lc(P.vertices_list[1], P.vertices_list[end])
end