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plot(abs(diag(fullQRR))); ylim([0 1.1]); title('Regressor orthogonality'); drawnow; %this shows how orthogonal individual regressors are to the rest of the matrix
if sum(abs(diag(fullQRR)) > max(size(fullR)) * eps(fullQRR(1))) < size(fullR,2) %check if design matrix is full rank