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Merge obstacles into dev_whatever

Merged VAN TOLL Wouter requested to merge obstacles into dev_whatever

Added static obstacles to the simulation:

  • New classes and geometry functions,
  • Specification in XML files,
  • Updated time-to-collision computations to consider obstacles as well,
  • Updated as many cost functions as possible.

Some cost functions do not yet support obstacles, and they have been marked as such with a warning in the (Doxygen) documentation. I will make separate issues for this.

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