We consider signal waveform's optimal under restriction design (SWORD) for active sensing. In the presence of colored interference and noise with known statistical properties, waveform optimization for active sensors such as radar can significantly increase the signal-to-interference-plus-noise ratio needed for much improved target detection. However, the so-obtained optimal waveforms can result in significant modulus variation, poor range resolution, and/or high peak sidelobe levels. To mitigate these problems, we can constrain the waveform optimization problem by restricting the sought-after waveform to be similar to a desired waveform, which is known to have, for example, constant modulus as well as reasonable range resolution and peak sidelobe level. One example of the desired waveform is the widely used linear frequency modulated waveform or chirp. We will provide a detailed solution to the constrained optimization problem and explain how it is related with the existing waveform optimization methods