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Supplement structural givens doc #20327

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This doc may have limited shelf life.

Fixes #19016

[skip ci]

@Gedochao Gedochao requested a review from sjrd May 7, 2024 13:40
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sjrd commented May 7, 2024

Not merging today because the CI is already way overloaded for the 3.5.0-RC1 release.

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reference docs don't explain givens with ConstrApp
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