function [pthb,NAR]=create_hyperplanes(NBDHP,AR,pthb)global GLOBAL_PIHAglobal GLOBAL_APPROX_PARAMglobal GLOBAL_OPTIM_PARhyperplanes = [];% This function creates the list of hyperplanes. It originally resided in the% 'partition_ss' function, but it has become necessary to have the hp's before% the state space is divided.% Put hyperplanes constituting the boundary of AR at the beginning of the% hyperplane list.[CE,dE,CAR,dAR] = linearcon_data(AR);hyperplanes = {};for k = 1:length(dAR)  hyperplanes{k}.pthb = -1;  hyperplanes{k}.index = k;  hyperplanes{k}.c = CAR(k,:);  hyperplanes{k}.d = dAR(k);endNAR = length(hyperplanes);hyperplane_tol = GLOBAL_APPROX_PARAM.poly_hyperplane_tol;counter_hyperplanes=NAR;for k = 1:length(NBDHP)    dup=0;  for j=1:counter_hyperplanes        c1 = hyperplanes{j}.c;        b1 = hyperplanes{j}.d;        c =NBDHP{k}.c;        b=NBDHP{k}.d;        MATRIX = [c1 b1; c b];        if rank(MATRIX,hyperplane_tol) < 2         dup=1;         i=NBDHP{k}.pthb;         pthb{i}.hps=[pthb{i}.hps j];         break;     else         dup=0;     end  end  if dup==0  counter_hyperplanes = counter_hyperplanes+1;  hyperplanes{counter_hyperplanes}.pthb = NBDHP{k}.pthb;  hyperplanes{counter_hyperplanes}.index = NBDHP{k}.index;  hyperplanes{counter_hyperplanes}.c = NBDHP{k}.c;  hyperplanes{counter_hyperplanes}.d = NBDHP{k}.d;  endend%Sort out which HP's go with which pthbfor n=NAR+1:length(hyperplanes)   j=hyperplanes{n}.pthb;   if j~=-1      pthb{j}.hps=[pthb{j}.hps n];   endendGLOBAL_PIHA.Hyperplanes = hyperplanes;return%------------------------------------------------------------------------------