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1 | % By Philip Torr 2002
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2 | % copyright Microsoft Corp.
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3 | %this imposes the invariant constraint on F
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4 | function [c,ceq] = torr_nonlcon_f(f, nx1,ny1,nx2,ny2, m3)
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5 | %c = ... % Compute nonlinear inequalities at f.
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6 | %ceq = ... % Compute nonlinear equalities at f.
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7 |
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8 | %g(1) = norm(f) -1.0;
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9 | %g(2) = f(1) * (f(5) * f(9) - f(6) * f(8)) - f(2) * (f(4) * f(9) - f(6) * f(7)) + f(3) * (f(4) * f(8) - f(5) * f(7));
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10 | c = [];
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11 | %what norm should we use!
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12 | ceq(1) = norm(f) -1.0;
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13 | ceq(2) = f(1) * (f(5) * f(9) - f(6) * f(8)) - f(2) * (f(4) * f(9) - f(6) * f(7)) + f(3) * (f(4) * f(8) - f(5) * f(7));
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