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. Author manuscript; available in PMC: 2019 Oct 30.
Published in final edited form as: IEEE Syst Man Cybern Mag. 2016 Aug 24;2(2):33–42. doi: 10.1109/MSMC.2015.2501167

Fig. 6.

Fig. 6.

Definition of HLFs: (a) HLF-1: co-planar with distance d; (b) HLF-2: parallel and face-to-face with distance d; (c) HLF-3: step-shape with distance d; (d) HLF-4: parallelepiped-shape; (e) HLF-5: side-above with distance d1 and d2: d1 is the A’s projection-distance while d2 is the minimum distance between A’s projection-points on B and B’s points; (f) HLF-6: above-with-distance d. A, B and C represent any three patches out of the N planar patches.