Computational geometry emerged as a discipline in the seventies and has had considerable success in improving the asymptotic complexity of the solutions tobasicgeometricproblemsincludingconstructionsofdatastructures, convex hulls, triangulations, Voronoi diagrams and geometric arrangements as well as geometric optimisation. However, in the mid-nineties, it was recognized that the computational geometry techniques were far from satisfactory in practice and a vigorous e?ort has been undertaken to make computational geometry more practical. This e?ort led to major advances in robustness,...