discretize: recursive union of sets starts with empty polytope and recursive call only inside the loop
discretize: recursive union of sets starts with empty polytope and recursive call only inside the loop

necozay/tulip-control,tulip-control/tulip-control,tulip-control/tulip-control,necozay/tulip-control,tulip-control/tulip-control,necozay/tulip-control,necozay/tulip-control,necozay/tulip-control,tulip-control/tulip-control