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Merge obstacles into dev_whatever

Merged VAN TOLL Wouter requested to merge obstacles into dev_whatever
  1. Feb 20, 2020
  2. Feb 19, 2020
  3. Feb 18, 2020
  4. Feb 14, 2020
  5. Feb 13, 2020
  6. Feb 12, 2020
    • VAN TOLL Wouter's avatar
      Started adding static obstacles: · e5771f42
      VAN TOLL Wouter authored
      - New class Polygon2D.
      - New geometry functions for Vector2D.
      - New time-to-collision (TTC) functions in CostFunction.
      - CostFunction::ComputeTimeToFirstCollision() now includes obstacles as well.
      - Reordered parameters in existing TTC functions; this affects several cost functions.
      
      TODO:
      - Read obstacles from XML.
      - Cost functions that use something more complicated than "first TTC" should define what to do with obstacles.
      - Maybe implement more efficient neighbor search for obstacles.
      e5771f42
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