Add implementation for generating VPolytope from HPolyhedron using qhull #43
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Hooray! This is great. I'll merge it here so that I can test it locally. We need some actual unit tests, too. @mpetersen94 , @TobiaMarcucci, are either of you willing? |
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Happy to help as long as my coding expertise can go. One thing: I think we need to require the |
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Ended up talking with @TobiaMarcucci about this for a while and after I finally figured out how Qhull solves half plane to vertex mapping, I thought I'd PR it. @RussTedrake for review.