function hplane = plotPlane(normal,D,xLim,zLim)
%http://stackoverflow.com/questions/13464304/how-can-i-plot-a-3d-plane-in-matlab
%Find all coefficients of plane equation    
A = normal(1); B = normal(2); C = normal(3);

[X,Z] = meshgrid(xLim,zLim);
Y = (A * X + C * Z + D)/ (-B);
reOrder = [1 2  4 3];
hplane = patch(X(reOrder),Y(reOrder),Z(reOrder),'b');
alpha(0.3);