Hello, I am attempting to use your routine as part of a trajectory planning algorithm for my research. However, I cannot find the shrink routine described in your paper. There is a virtual shrink routine created in decomp_base.h, looking like this:
virtual void shrink(double shrink_distance) {}
However, there is no place I can find where this is populated. I believe it should follow Figure 9 in the paper linked above. Could you clarify where that function can be found?