Add room constraints for non-rectangular rooms

[timmercy]

Include safety distance as well

[rubenvanparys]

@timmercy : is there an example which illustrates non-rectangular room constraints? And could this be extended to 3d by adding a function get_hyperplanes in Polyhedron3D?

[timmercy]

There is not yet an example of non-rectangular room constraints, but I will provide one soon.

This is extendable to 3D I think, I will look at it.

[timmercy]

I added an example with an octagonal room.

[rubenvanparys]

I made the drawing of the room optional, by adding an extra boolean argument draw in the room dict (see p2p_holonomic_octroom).