mpt_merge5

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 Title:        Merge5
                                                             
 Project:      Optimal merging of polyhedra with the same PWA dynamics

 Description:  Merges the white polyhedra recursively by dividing the 
               polyhedron given by m_poly into two polyhedra given by 
               m_poly1 and m_poly2 and branching on both of them.
               The procedure is drastically sped up by using bound 
               techniques and by only branching on hyperplanes that are 
               supporting hyperplanes of black polyhedra.

 Inputs:       m_poly: marking of the polyhedron we are dealing with. 
                       The components of the marking vector are in 
                       {-1, 0, 1}. A 0 means, that the corresponding 
                       hyperplane is not fixed.
               M_white: markings of the white polyhedra
               M_black: markings of the black polyhedra
               level: level in the search tree
               n_curr: current number of merged white polyhedra
               n_up: upper bound on the number of merged white polyhedra

 Outputs:      M_mer: markings of the merged white polyhedra
               nodes: number of nodes visited 

 Authors:      Tobias Geyer <geyer@control.ee.ethz.ch>, Fabio D. Torrisi