A best-effort A*-on-visibility-graph implementation for pathplanning in obstacles maps where obstacles and the robot itself are assumed to be round.
It exports three classes
Represents a round obstacle with public fields center: (float, float) and radius: float. Can be created with the constructor RoundObstacle(center, radius)
Represents all configuration values for how obstacles should be treated with public fields dilate: float - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and num_vertices - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor ObstacleMapConfig(dilate, num_vertices)
Represents a set of obstacles on a plane with a given config. This has two fields: config: ObstacleMapConfig and obstacles: [RoundObstacle]. Can be created with the constructor ObstacleMap(config, obstacles)