I\'ve been looking around a bit and can\'t seem to find just what I\"m looking for. I\'ve found \"canonical formulas,\" but what\'s the best way to use these? Do I have to s
http://mathworld.wolfram.com/OrthogonalProjection.html
http://nptel.iitm.ac.in/courses/Webcourse-contents/IIT-KANPUR/mathematics-2/node51.html