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#include <vector>
#include <boost/geometry.hpp>
#include <boost/geometry/algorithms/area.hpp>
#include <boost/geometry/algorithms/assign.hpp>
#include <boost/geometry/algorithms/detail/within/interface.hpp>
#include <boost/geometry/core/cs.hpp>
#include <boost/geometry/geometries/point_xy.hpp>
#include <boost/geometry/geometries/polygon.hpp>
#include <boost/geometry/geometries/register/point.hpp>
#include <VirtualRobot/MathTools.h>