p44.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp44.png"></p>
        
        If LP or QP contains equality constraints, these are removed first. It is required that the system of 
        linear equations <img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp1.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp1.png"> is consistent, i.e. no linearly dependent rows are found and 
        the number of equalities is strictly less than number of variables.
        The principle is bas