>
<div class="line">      sup_point = MinkowskiDiff(sup_dir, erosion_ratio);</div>
<div class="line">      min_dist_mink = max(-Math::Dot(sup_point, sup_dir), min_dist_mink);</div>
<div class="line"> </div>
<div class="line">      <span class="comment">// cout &lt;&lt; &quot;debug min_dist pp: &quot; &lt;&lt; iter &lt;&lt; &quot;, &quot; &lt;&lt; min_dist_mink &lt;&lt; &quot;, &quot;</span></div>
<div class="line">      <span class="comment">//      &lt;&lt; min_dist_simp - min_dist_mink &lt;&lt; &quot;, &q