source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/third_party/opt/yalmip/extras/computeconstraintresiduals.m @ 37

function res = computeconstraintresiduals(p,x)

res= [];
if ~isempty(p.F_struc)
    vecres = p.F_struc*[1;x];

    if p.K.f>0
        res = -abs(vecres(1:p.K.f));
    end
    if p.K.l>0
        res = [res;vecres(p.K.f+1:p.K.f+p.K.l)];
    end
    
    if p.K.q(1)>0
        top = 1+p.K.f+p.K.l;
        for i = 1:length(p.K.q)
            n = p.K.q(i);
            X = vecres(top:top+n-1);top = top+n;
            res = [res;X(1)-norm(full(X(2:end)))];
        end
    end

    if p.K.s(1)>0
        top = 1+p.K.f+p.K.l+p.K.q;
        for i = 1:length(p.K.s)
            n = p.K.s(i);
            X = reshape(vecres(top:top+n^2-1),n,n);top = top+n^2;
            res = [res;min(eig(X))];
        end
    end
end