main planning API */

@yuwei: parking

Get the convex hull of a 2D points array, use wrapping method

Calculate normals, used for visualization

Find the closest hyperplane from the closest point

The size of A, as well as the lower/upper banded width p/q are needed

Mark a face as disabled and return a pointer to the points that were on the positive of it.

verification for PolyH visualizations

points visualizations

* @brief Get the end of the parameterization */

hzchzc px py yaw*/

This function conducts banded LU factorization in place Note that NO PIVOT is applied on the matrix "A" for efficiency!!!

* @brief Fill all data in array using value * * @param val input value */

Each col of hPoly denotes a facet (outter_normal^T,point^T)^T The outter_normal is assumed to be NORMALIZED

find the largest coefficient in a plane */

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the point in the rear axle center

The public getConvexHull functions will setup a VertexDataSource object and call this

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@hzc

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