function [T,X,P] = planar_mov_randconf( m,n )
% function [T,X,l,P] = planar_mov_randconf( m,n )

if ~exist('m'); m=3; end;
if ~exist('n'); n=7; end;

rotm = inline( '[cos(x) sin(x);-sin(x) cos(x)]','x' );
PX = [(randn(3,n));ones(1,n)];

endblock=[0 0 1 0; 0 0 0 1];
   
T{1} = eye(4);
for i=2:m,
   th = rand*2*pi;
   T{i} = [[ rotm(th) zeros(2,1) 2*randn(2,1) ] ;endblock]; 
end;
for j=1:n;
   X{j}=[randn(3,1)*10; 1];
   [q,r] = qr(randn(3) );
   P{j} = [ q   0.3*randn(3,1)] ;%[eye(dim) [0 0 0]'];
end;