Fixes LargestEmptyCircle to handle polygonal obstacles. The centre of the LEC is constrained to be outside of any polygonal obstacles. Previously polygonal obstacles were only handled as linear constraints, which allowed the LEC centre to lie inside polygons.
Fixes LargestEmptyCircle to handle polygonal obstacles. The centre of the LEC is constrained to be outside of any polygonal obstacles. Previously polygonal obstacles were only handled as linear constraints, which allowed the LEC centre to lie inside polygons.