* @brief getters */

Calculate points inside ellipsoid, non-exclusive

! \brief General solver for \f$a*t^4+b*t^3+c*t^2+d*t+e = 0\f$ \f$a, b, c\f$ can be zero. The function itself checks the highest order of the polyn

* @brief Get the begin of the parameterization */

* @brief Set all data in array to 0 */

Position and orientation are passed through to the SceneNode.

Create a mesh with initial tetrahedron ABCD. Dot product of AB with the normal of triangle ABC should be negative.

Find extreme points of Polyhedron2D

Find the closest point

* @brief Inflate the seed with a sphere * @param radius Robot radius */

Calculate distance to the center

* @brief Get the end of the parameterization */

Each col of hPoly denotes a facet (outter_normal^T,point^T)^T The outter_normal is assumed to be NORMALIZED proposed epsilon is 1.0e-6

@yuwei

helper functions */

Calculate the signed distance from point

@yuwei

* @brief Get the begin of the parameterization */