e written as
        <p class="programlistingindent"><img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp57.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp57.png"></p>
        where the matrix <img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp24.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp24.png"> form by rows in the set <img src="../../../../fig/mpt/modules/solvers/mpt_call_lcp25.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_lcp25.png"> must be invertible. Us