function [P,q,c]=XtoP(x,n)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%       
% 
% Defolding a state vector into the Riccati matrices
% 
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%

k=0;

for i=1:n
   for j=1:i
       k=k+1;
       P(i,j)=x(k);
       P(j,i)=x(k); % P beeing symmetric
   end
end

for i=1:n
    k=k+1;
    q(i,1)=x(k);
end

c=x(k+1);

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