The input lines of dots and the surface, and calculate the composition of the convex polygon centroid, area, and whether the specified line cross, etc.
说明：根据输入点组成线和面，并计算组成的凸多边形的质心、面积、是否和指定线交叉等。
A profound approach about SCARA manipulators configuration space is made in this paper. The obstacle space of SCARA manipulator produced by convex polygon obstacle is proved to be a connected area.
对SCARA型操作臂的C空间作了深入研究，证明了凸多边形障碍物在SCARA型操作臂的C空间中形成一连通的障碍物子空间。
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