LCQPow is a open-source solver for Quadratic Programs with Complementarity Constraints. The approach is based on a standard penalty homotopy reformulated using sequential convex programming. The convex sequence derives from linearizing the (necessarily) nonconvex penalty function. This leads to a constant objective Hessian matrix throughout all iterates, and thus enables us to solve the linear complementarity quadratic program with a single factorization of the KKT matrix (by using qpOASES).

The entire strategy is presented in detail in this paper.

Installation instructions and examples can be found on github.