makeConvexHull.m

%{
 * Copyright (C) 2013-2025, The Regents of The University of Michigan.
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 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
 %}


function [convex_hull, area_2D] = makeConvexHull(X)
    X = makeTallMatrix(X);
    if size(X, 2) == 3
        if mean(X(:, 3), 3) == 1
            X_no_ones = X(:,1:2);
        end
    else
         X_no_ones = X;
    end
    [index, area_2D] = convhull(X_no_ones);
    convex_hull = X_no_ones(index(1:end-1), :)';
%     convex_hull = X';
end