ements calls to LCP solver based on the optimization problem to be solved.
        Supported problems are LCP, LP, and QP.
        
        If the problem type is LCP, then LCP mex-function is called directly. Otherwise a transformation
        to LCP problem is performed. Assume that QP/LP is written in a form
        <p class="programlistingindent"><img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp41.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp41.png"></p>
        We want to transfor