#' @title Generate one Random Rotation matrix via QR
#' @export
Rmat = function(p){
Q=gramschmidt(matrix(rnorm(p^2),nrow=p))$Q
if(det(Q)<0){idx=sample(1:p,2);Q[c(idx[1],idx[2]),]=Q[c(idx[2],idx[1]),]}
return(Q)
}
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