Get ellipsoid

Get polyhedron

Get the Safe Flight Corridor

* Start a L-BFGS optimization. * Assumptions: 1. f(x) is either C2 or C0 but piecewise C2; * 2. f(x) is lower bounded; *

* Get string description of an lbfgs_optimize() return code. * * @param err A value returned by lbfgs_optimize(). */

Find intersection between two lines on the same plane, return false if they are not intersected

* Line search method for smooth or nonsmooth functions. * This function performs line search to find a point that satisfy * both the Armi

* return the minimum on the projective line */

unitize a d+1 dimensional point */

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

@yuwei: parking

* @brief Debug function */

Quadratic equation: \f$b*t^2+c*t+d = 0\f$

Quartic equation: \f$a*t^4+b*t^3+c*t^2+d*t+e = 0\f$

the point in the rear axle center

helper functions */

Set dimension of bounding box

* @brief Adding local bounding box around line seg * @param Dim Distance in corresponding axis * * This virtual bounding box is paralle

Set obstacle points

Import obstacle points