From 99a7b45456d056f69ed105d5adecdd5d2b96ff45 Mon Sep 17 00:00:00 2001
From: Tristan Goodwill <48371600+tristangdwl@users.noreply.github.com>
Date: Wed, 2 Apr 2025 11:24:11 -0500
Subject: [PATCH 1/3] suppresss rcond warning in id

---
 core/id.m | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/core/id.m b/core/id.m
index c18cb9d..d5008e1 100644
--- a/core/id.m
+++ b/core/id.m
@@ -56,6 +56,8 @@
   assert(rrqr_iter >= 0,'FLAM:id:invalidRRQRIter', ...
          'Maximum number of RRQR iterations must be nonnegative.')
 
+  warnStruct = warning('off','MATLAB:nearlySingularMatrix');
+
   % initialize
   [m,n] = size(A);
   niter = 0;
@@ -245,4 +247,5 @@
     sk = [fixed free(sk)];
     rd = [free(rd)];
   end
+  warning(warnStruct);
 end
\ No newline at end of file

From 908a83cf45e568052d041798bd1cfde6be7e81f6 Mon Sep 17 00:00:00 2001
From: Tristan Goodwill <48371600+tristangdwl@users.noreply.github.com>
Date: Wed, 2 Apr 2025 11:25:54 -0500
Subject: [PATCH 2/3] add warning comments in id

---
 core/id.m | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/core/id.m b/core/id.m
index d5008e1..72b4511 100644
--- a/core/id.m
+++ b/core/id.m
@@ -56,6 +56,7 @@
   assert(rrqr_iter >= 0,'FLAM:id:invalidRRQRIter', ...
          'Maximum number of RRQR iterations must be nonnegative.')
 
+  % suppress nearly singular matrix warning
   warnStruct = warning('off','MATLAB:nearlySingularMatrix');
 
   % initialize
@@ -247,5 +248,7 @@
     sk = [fixed free(sk)];
     rd = [free(rd)];
   end
+
+  % revert nearly singular matrix warning to previous state
   warning(warnStruct);
 end
\ No newline at end of file

From 4a9a67c5755b7bd4b83c91e7ac81b612fbe69e3d Mon Sep 17 00:00:00 2001
From: Tristan Goodwill <48371600+tristangdwl@users.noreply.github.com>
Date: Wed, 2 Apr 2025 11:40:33 -0500
Subject: [PATCH 3/3] fixed warning management in ID with early return

---
 core/id.m | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/core/id.m b/core/id.m
index 72b4511..1c5c0c7 100644
--- a/core/id.m
+++ b/core/id.m
@@ -67,6 +67,9 @@
   if isempty(A)
     sk = []; rd = 1:n;
     T = zeros(0,n);
+
+    % revert nearly singular matrix warning to previous state
+    warning(warnStruct);
     return
   end
 
@@ -85,6 +88,9 @@
     if isempty(free)
       sk = fixed; rd = [];
       T = zeros(nfix,0);
+  
+      % revert nearly singular matrix warning to previous state
+      warning(warnStruct);
       return;
     end