ass="programlistingindent"><img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp52.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp52.png"></p>
        Original solution to QP problem <img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp8.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp8.png"> can be obtained via relation <img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp9.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp9.png">.
        
        Problem <img s