function numConcave = concavePoints(poly)
%concavePoints Measure concaveness. Assume clockwise winding.

%   Copyright 2022 The MathWorks, Inc.

numConcave=0;
if(poly(end,:)==poly(1,:))
    poly(end,:)=[];
end
for i=1:1:size(poly,1)
    if(uav.internal.coveragePlanner.isReflex(i,poly))
        numConcave=numConcave+1;
    end
end
end
