This implements Algorithm_IPC, the SOCP interior point algorithm in SDPT3
"K. C. Toh, M. J. Todd, R. H. Tütüncü, "On the implementation and usage
of SDPT3 - a MATLAB software package for semidefinite-quadratic-linear
programming, version 4.0," in Handbook on Semidefinite, Cone and Polynomial
Optimization: Theory, Algorithms, Software and Applications, Anjos, M. and
Lasserre, J.B., ED. Springer, 2012, pp. 715--754."