span class="keywordflow">if</span>(A_bins_are_transformed){
<a name="l00466"></a>00466       <span class="comment">// use the normals to each plane and the lower corner as point on </span>
<a name="l00467"></a>00467       <span class="comment">// the plane</span>
<a name="l00468"></a>00468 
<a name="l00469"></a>00469       <span class="comment">// Get signed distance of point to each "lower" plane</span>
<a name="l00470"></a>00470       my_float_t signed_dist[3];
<a name="l00471"></a>00471       <span class