function Y=plot(varargin)
%PLOT (overloaded)

% Fast version for plotting simple PWA objects
if nargin == 1
 X = varargin{1};
 if isa(varargin{1},'sdpvar')
 if length(X) == 1
 if isequal(full(getbase(X)),[zeros(length(X),1) eye(length(X))])
 extstruct = yalmip('extstruct',getvariables(X));
 if ~isempty(extstruct)
 if isequal(extstruct.fcn,'pwa_yalmip') | isequal(extstruct.fcn,'pwq_yalmip')%#ok
 % Maybe some reduction has been performed so we
 % actually can plot it
 xarg = extstruct.arg{2}; 
 switch extstruct.arg{3}
 case ''
 otherwise
 Pn = polytope; Bi = {}; Ci = {};
 index = extstruct.arg{5};
 for i = 1:length(extstruct.arg{1})
 % Pick out row
 for j = 1:length(extstruct.arg{1}{i}.Bi)
 extstruct.arg{1}{i}.Bi{j} = extstruct.arg{1}{i}.Bi{j}(index,:);
 extstruct.arg{1}{i}.Ci{j} = extstruct.arg{1}{i}.Ci{j}(index,:);
 end
 if isempty(extstruct.arg{1}{i}.Ai{1})
 Pn = [Pn extstruct.arg{1}{i}.Pn];
 Bi = cat(2, Bi, extstruct.arg{1}{i}.Bi);
 Ci = cat(2, Ci, extstruct.arg{1}{i}.Ci);
 else
 if nnz([extstruct.arg{1}{i}.Ai{:}]) == 0
 Pn = [Pn extstruct.arg{1}{i}.Pn];
 Bi = cat(2, Bi, extstruct.arg{1}{i}.Bi);
 Ci = cat(2, Ci, extstruct.arg{1}{i}.Ci);
 else
 hold on
 [extstruct.arg{1}{i}.Pn,extstruct.arg{1}{i}.Bi,extstruct.arg{1}{i}.Ci,extstruct.arg{1}{i}.Ai] = reduce_basis(extstruct.arg{1}{i}.Pn,extstruct.arg{1}{i}.Bi,extstruct.arg{1}{i}.Ci,extstruct.arg{1}{i}.Ai,xarg);
 Y = mpt_plotPWQ(extstruct.arg{1}{i}.Pn, extstruct.arg{1}{i}.Ai,extstruct.arg{1}{i}.Bi,extstruct.arg{1}{i}.Ci);
 hold off
 end
 end
 end
 if ~isempty(Bi),
 hold on
 [Pn,Bi,Ci] = reduce_basis(Pn,Bi,Ci,[],xarg);
 if size(Bi{1},2) > 2
 error('Cannot plot high-dimensional PWA functions')
 end
 mpt_plotPWA(Pn, Bi, Ci);
 hold off
 end
 drawnow
 return
 end
 end
 end
 end
 else
 for j = 1:length(X)
 plot(extsubsref(X,j));
 end
 return
 end
 end
end

% More complex expression. Get epi-graph model
% project to our variables, and extract defining facets
if nargin == 1
 [p,Bi,Ci,Pn,Pfinal] = pwa(varargin{1});%#ok
elseif isa(varargin{2},'lmi')
 [p,Bi,Ci,Pn,Pfinal] = pwa(varargin{1},varargin{2});%#ok
else
 error('Second argument should be a domain defining SET object.');
end
if nargout>0
 Y = mpt_plotPWA(Pn,Bi,Ci);
else
 mpt_plotPWA(Pn,Bi,Ci);
end

function S = extractrow(S,index)
for i = 1:length(S)
 S{i} = S{i}(index,:);
end

function [Pnnew,Binew,Cinew,Ainew] = reduce_basis(Pn,Bi,Ci,Ai,xarg);
%
if ~isequal(getbase(xarg),[zeros(length(xarg),1) eye(length(xarg))])
 base = getbase(xarg);
 c = base(:,1);
 D = base(:,2:end);
 Pnnew = [];
 Ainew = [];
 Binew = [];
 Cinew = [];
 for i = 1:length(Pn)
 [H,K] = double(Pn(i));
 Phere = polytope(H*D,K-H*c);
 if isfulldim(Phere)
 Pnnew = [Pnnew Phere]; 
 if ~isempty(Ai)
 Cinew{end+1} = Ci{i} + Bi{i}*c + c'*Ai{i}*c;
 Binew{end+1} = Bi{i}*D + 2*c'*Ai{i}*D;
 Ainew{end+1} = D'*Ai{i}*Ai{i};
 else
 Cinew{end+1} = Ci{i} + Bi{i}*c;
 Binew{end+1} = Bi{i}*D;
 end
 end
 end
else
 Pnnew = Pn;
 Ainew = Ai;
 Binew = Bi;
 Cinew = Ci;
end