function result = feasible_point(con,p)% Check the feasibility of the point "p" with respect to "con"%% Syntax:%   "result = feasible_point(con,p)"%% Description:%   "feasible_point(con,p)" returns "1" if the point "p" satisfies the linear%   constraints represented by "con", and "0" if "p" does not. %% Examples:%   Given the linear constraint object "con" representing a square in the%   plane x3=0 with corners at (x1,x2) pairs (2,1), (2,3), (4,3), and%   (4,1) and point "p = [3 2 0]'".%%%%     "result = feasible_point(con,p)"%%     "result = 1"%%%%   Now use "p = [5 4 2]'". %%%%     "result = feasible_point(con,p)"%%     "result = 0"%%%% See Also:%   linearconglobal GLOBAL_APPROX_PARAMepsilon = GLOBAL_APPROX_PARAM.poly_epsilon;% Equality constraints firstCE = con.CE; dE = con.dE;result = 1;for k = 1:length(dE)  if abs(CE(k,:)*p - dE(k)) > epsilon    result = 0;    return  endend% Inequality constraints nextCI = con.CI; dI = con.dI;result = 1;for k = 1:length(dI)  if CI(k,:)*p > (dI(k) + epsilon)    result = 0;    return  endend