Computes convex hull for a given point cloud. This function assumes that the vertex data resides in memory in the following format: x_0,y_0,z_0,x_1,y_

Find indices of extreme values (max x, min x, max y, min y, max z, min z) for the given point cloud

get values of state

Compute scale of the vertex data.

Get the constraints of SFC as \f$Ax\leq b \f$

Get the ellipsoids

Get the line

Get obstacel points

Get the path that is used for dilation

Get the center

Check if the point is inside polyhedron, non-exclusive

Check if the point is inside polyhedron using linear constraint

* Initialize L-BFGS parameters to the default values. * * Call this function to fill a parameter structure with the default values * and overwrit

* Start a L-BFGS optimization. * A user must implement a function compatible with ::lbfgs_evaluate_t (evaluation * callback) and pass the pointer to

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

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

NOTE just for global map in simulation

Minkowski sum, add B to A with center Bc

SECTION object function