% フォームクロージャであるか否かをチェック

% -vx                 <= 0
%    -vy + 0.55 omega <= 0
%    -vy - 1.20 omega <= 0
% vx + vy + 0.3 omega <= 0

%A = [
% -1,  0,     0,    1;
%  0, -1,    -1,    1;
%  0,  0.55, -1.20, 0.3
%  ];

% -vx                 <= 0
%    -vy + 0.55 omega <= 0
%    -vy - 1.20 omega <= 0
%  vx                 <= 0

A = [
 -1,  0,     0,    1;
  0, -1,    -1,    0;
  0,  0.55, -1.20, 0
  ];

status = non_zero_sol_homogeneous_ineqs(A');
if status == 0
    disp("form closure");
else
    disp("not form closure");
end
