function [T,X,P,L] = solve36_generate_data( m,n )
% function [T,X,P,L] = solve36_generate_data( 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' );
   
T{1} = eye(3);
for i=2:m,
   th = rand*2*pi;
   T{i} = [[ rotm(th)  2*randn(2,1) ] ; 0 0 1]; 
end;
for j=1:n;
   X{j}=[randn(2,1)*10; 1];
   [q,r] = qr(randn(2) );
   P{j} = [ q   0.3*randn(2,1)] ;%[eye(dim) [0 0 0]'];
end;

X = [X{1} X{2} X{3} X{4} X{5} X{6}] ;

for i=1:3
   centers{i} = [randn(2,6);ones(1,6)];
   directions = T{i}*X-  centers{i};
   for j=1:6
      L{i}(j,:)= (null( [ T{i}*X(:,j)   centers{i}(:,j) ]' ) )';
   end
end