0001 function projectionData = appendProjectionData(projectionData, ...
0002 constraintMatrix, projectionMatrix, zerotol)
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0028 if isempty(projectionData)
0029
0030 projectionData.A = zeros(0, constraintMatrix);
0031 projectionData.responsibleMatrix = zeros(0, 3);
0032 projectionData.projectionList = {};
0033 return
0034 end
0035
0036
0037 projectionData.projectionList{end+1} = projectionMatrix;
0038 nProjection = length(projectionData.projectionList);
0039
0040
0041 if isempty(constraintMatrix)
0042 return
0043 end
0044
0045
0046 constraintMatrix = eliminateRows(constraintMatrix, ...
0047 constraintMatrix(1,:)*0, zerotol);
0048
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0050 constraintMatrix = bsxfun(@rdivide, constraintMatrix, ...
0051 sqrt(sum(constraintMatrix.^2, 2)));
0052
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0054 [constraintMatrix, thisIndexVector] = eliminateRows(...
0055 constraintMatrix, projectionData.A, zerotol);
0056 projectionData.responsibleMatrix = [projectionData.responsibleMatrix; ...
0057 [thisIndexVector(:), thisIndexVector(:)*0+nProjection, ...
0058 thisIndexVector(:)*0+1]];
0059
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0061 [constraintMatrix, thisIndexVector] = eliminateRows(...
0062 constraintMatrix, -1*projectionData.A, zerotol);
0063 projectionData.responsibleMatrix = [projectionData.responsibleMatrix; ...
0064 [thisIndexVector(:), thisIndexVector(:)*0+nProjection, ...
0065 thisIndexVector(:)*0-1]];
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0069 thisIndexVector = (1:size(constraintMatrix, 1)) + size(projectionData.A, 1);
0070 projectionData.A = [projectionData.A; constraintMatrix];
0071 projectionData.responsibleMatrix = [projectionData.responsibleMatrix; ...
0072 [thisIndexVector(:), thisIndexVector(:)*0+nProjection, ...
0073 thisIndexVector(:)*0+1]];