The d-dimensional rigidity matrix M(G) of a graph G with vertex count n, edge count m in the variables v_i = (x_1, ..., x_d) is the m×(d n) matrix with rows indexed by the edges and columns indexed by the variables in v_i, in which the entry in row e and columns v is {v_i - w | if e - v w is incident with v 0 | if e is not incident with v. auto right match The rigidity matrix of a framework (G, p) is the matrix M(G, p) obtained from M(G) by replacing v by p(v) for all vertices.
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