[TASK] Obstacle vector fields

[alekskl01]

Description of task

A solution to the problem of passing buoys correctly, is to create vector fields around the buoys/obstacles that decrease the cost of passing them in a certain way (circular vector field for gates that reward passing through etc...)

Suggested Workflow

• [ ] Add support for additional costs for traveling against the vector fields

Specifications

• [ ] vector fields around different obstacles

Contacts

No response

Code Quality

• [ ] Every function in header files are documented (inputs/returns/exceptions)
• [ ] The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• [ ] The code is documented on the wiki (provide link)

[EirikKolas]

Some thoughts I will write down before I forget:

Useful ROS messages and services:

• Path: For visualizing the path. Foxglove has support for this message.
• OccupancyGrid: This will be the output from the landmark server.
• GetPlan: Might be useful depending on how you plan to set up the node

  The Vector Field

• Defining a similarity transform (translation, rotation and scaling) to cleanly convert between the grid space and world frame could be an idea.
• Be careful with how you scale the vector field. If the vector field is defined in the grid-space, the algorithm will be sensitive to the resolution of the grid compared to the world. It should be defined in the world frame to avoid this.