ed on factorizing equality constraints <img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp2.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp2.png"> in basic <img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp3.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp3.png">
        and non-basic variables <img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp4.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp4.png">, i.e.
        <p class="programlistingindent"><img src