34 "Cannot get the shortest dimension of the box because it is open");
36 Eigen::Vector3d box_a =
box_.col(0);
37 Eigen::Vector3d box_b =
box_.col(1);
38 Eigen::Vector3d box_c =
box_.col(2);
41 Eigen::Vector3d norm_a = box_b.cross(box_c);
42 Eigen::Vector3d norm_b = box_c.cross(box_a);
43 Eigen::Vector3d norm_c = box_a.cross(box_b);
49 double la = box_a.dot(norm_a);
50 double lb = box_b.dot(norm_b);
51 double lc = box_c.dot(norm_c);
53 return std::min(la, std::min(lb, lc));