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Triangulation 771........................................................................................
Triangulation by Horizontal Decomposition 775.........................................
Convex Partitioning 789.............................................................................
Circumscribed and Inscribed Balls 798.........................................
Circumscribed Ball 799...............................................................................
Inscribed Ball 801.......................................................................................
Minimum Bounds for Point Sets 803.............................................
Minimum-Area Rectangle 803....................................................................
Minimum-Volume Box 806.........................................................................
Minimum-Area Circle 807...........................................................................
Minimum-Volume Sphere 811....................................................................
Miscellaneous 813......................................................................................
Area and Volume Measurements 816...........................................
Area of a 2D Polygon 816..........................................................................
Area of a 3D Polygon 820..........................................................................
Volume of a Polyhedron 824......................................................................
Appendix A Numerical Methods 827.......................................
Solving Linear Systems 827..........................................................
A.1.1 Special Case: Solving a Triangular System 828...............................
A.1.2 Gaussian Elimination 829.................................................................
Systems of Polynomials 832..........................................................
A.2.1 Linear Equations in One Formal Variable 833..................................
A.2.2 Any-Degree Equations in One Formal Variable 835.........................
A.2.3 Any-Degree Equations in Any Formal Variables 837........................
Matrix Decompositions 847...........................................................
A.3.1 Euler Angle Factorization 847...........................................................
A.3.2 QR Decomposition 852.....................................................................
A.3.3 Eigendecomposition 853...................................................................
A.3.4 Polar Decomposition 854..................................................................
A.3.5 Singular Value Decomposition 857...................................................
Representations of 3D Rotations 857............................................
A.4.1 Matrix Representation 857................................................................
A.4.2 Axis-Angle Representation 858.........................................................
A.4.3 Quaternion Representation 860........................................................
A.4.4 Performance Issues 861...................................................................
Root Finding 869...........................................................................
A.5.1 Methods in One Dimension 869........................................................
A.5.2 Methods in Many Dimensions 874....................................................
A.5.3 Stable Solution to Quadratic Equations 875.....................................
Minimization 876............................................................................
A.6.1 Methods in One Dimension 876........................................................
A.6.2 Methods in Many Dimensions 877....................................................
A.6.3 Minimizing a Quadratic Form 880.....................................................