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charlesvdv / boulot-robot

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Implement circular obstacle #4

Closed charlesvdv closed 4 years ago

charlesvdv commented 4 years ago

The goal is to implement the method required to use circle as obstacles on the map (see here). You can check #3 for more details (implementation of rectangular obstacle).

For a bit more background, the map will be implemented as a quadtree (see the wikipedia page for more info). Therefore, the map will be splitted in quadrant of diffrerent sizes with a minimal size that will be fixed (for example min size = 1cm). A quadrant is split iff the minimum size is not reached and it overlaps with an obstacle. Here is an example of a quadtree map with two obstacles (in black):

A-quadtree-for-a-map-which-contains-two-obstacles-It-consists-of-26-cells

You can see that some quadrants have been cut in smaller pieces to accommodate the size of the obstacle. That's basically the gist of the field mapping. As we will certainly have a circular obstacles on the field of the eurobot, this implementation is highly needed.

JonathanPetit commented 4 years ago

I'll take this issue. i come back to you on slack if i have any problem!

JonathanPetit commented 4 years ago

The overlap method will be implement according to this stack overflow