%==========================================================================
% File Name     : <facetInnerCircle.m>
                                     
% Usage         : [x, R] = facetInnerCircle(A, b, ind, EqIdx)
              
% Description   : Given the polyhedron P={Ax<=B}, returns the center x and 
% the radius R of the largest circle inside facet 'ind' of P. Note that R 
 
% indicates how 'small' the facet 'ind' is, while x is a good 'center' for
 
% this facet. The routine returns R<0 if facet 'ind' is empty.
             
%
                                                                          
% Important note: The set of constraint is assumed to be normalized, i.e.
  
% such that A(i,:)*A(i,:)' = 1 for all i.
                                  
% 
                                                                         
% The last input, EqIdx, identifies the indices of P which are equality
    
% constraints.
                                                             
%--------------------------------------------------------------------------
% Author        : Mato Baotic, Richard Oberdieck, Nikolaos A. Diangelakis,
 
%                 Efstratios N. Pistikopoulos
                              
% Office        : Engineering Research Building, Texas A&M University, USA
 
% Mail          : paroc@tamu.edu
                                           
%--------------------------------------------------------------------------
% Last Revision | Author  | Description
                                    
%---------------+---------+------------------------------------------------
% 26-Jan-2001   | MB      | Initial Version
                                
%---------------+---------+------------------------------------------------
% 16-Apr-2015   | RO      | Code clean-up and commenting
                   
%==========================================================================
