Get obstacel points

Get the path that is used for dilation

Get the center

hzc for obca*/

@yuwei

@yuwei

Check if the point is inside polyhedron, non-exclusive

Check if the point is inside polyhedron using linear constraint

* @brief Get the container size * * @return size_t Output size */

* @brief Get value of desired dimension of ith point * * @param idx Index of point * @param dim Dimension * @return decimal_t Output value

hzc

Minkowski sum, add B to A with center Bc

* @brief Get the number of segments of the spline * @param n number of the segments */

Normal Vector (Left)

Calculate points inside polyhedron, non-exclusive

viola*, viola*Pena, viola*PenaD

* @brief Debug print */

steering angle

Projection onto another vector

Given a list of half edges, try to rearrange them so that they form a loop. Return true on success.