#1727 - Use faster disambiguation in isdisjoint(::CPA, ::HalfSpace) #1730
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Closes #1727.
Platooning benchmark:
master:("PLAD01_BND42", "discrete") => TrialEstimate(282.038 ms)
("PLAN01_UNB50", "discrete") => TrialEstimate(7.917 s)
("PLAD01_BND42", "dense") => TrialEstimate(860.151 ms)
("PLAN01_UNB50", "dense") => TrialEstimate(11.131 s)
this branch:
("PLAD01_BND42", "discrete") => TrialEstimate(204.435 ms)
("PLAN01_UNB50", "discrete") => TrialEstimate(7.312 s)
("PLAD01_BND42", "dense") => TrialEstimate(699.705 ms)
("PLAN01_UNB50", "dense") => TrialEstimate(10.025 s)
(Note that the performance is not as good as before the commit mentioned in #1727 because there is another regression.)