polytope2hyperplane(P)

function HA = polytope2hyperplane(P)
%
% POLYTOPE2HYPERPLANE - converts given polytope object into the array
%                       of hyperplanes.
%
%
% Description:
% ------------
%
%    HA = POLYTOPE2HYPERPLANE(P)  Given polytope object P, returns array of
%                                 hyperplane objects HA.
%                                 Requires Multi-Parametric Toolbox.
%
%
% Output:
% -------
%
%    HA - array of hyperplanes.
%
%
% See also:
% ---------
%
%    POLYTOPE/POLYTOPE, HYPERPLANE/HYPERPLANE, HYPERPLANE2POLYTOPE.
%

%
% Author:
% -------
%
%    Alex Kurzhanskiy <[e-mail]>
%

  global ellOptions;

  if ~isstruct(ellOptions)
    evalin('base', 'ellipsoids_init;');
  end

  if ~(isa(P, 'polytope'))
    error('POLYTOPE2HYPERPLANE: input argument must be single polytope.');
  end
  
  P      = P(1, 1);
  [A, b] = double(P);
  HA     = hyperplane(A', b');

  return;