real ids used: {1000*id ~ (arrow nums)+1000*id}

real ids used: {id, id+1}

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_

in this function, add customized costs

* 获得轨迹上具体某一时刻的机器人尺寸因子变化导数 * @param time_stamp 时刻 * @return time_stamp 时刻机器人尺寸因子 * @attention 当前返回0矩阵，需要按需修改 */

get elapsed time in second @return time in seconds

get elapsed time in micro-second @return time

get elapsed time in milli-second @return time

get elapsed time in second (same as getElapsedTime) @return time

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

* 获得轨迹上具体某一时刻的机器人尺寸因子 * @param time_stamp 时刻 * @return time_stamp 时刻机器人尺寸因子 * @attention 当前返回单位矩阵，需要按需修改,注意奇异点问题Scale缩放分母除以0，求inverse问题