set
open override fun setDynamicObstacles(obs: MutableList<Pair<Translation2d?, Translation2d?>?>?, currentRobotPos: Translation2d?)
Set the dynamic obstacles that should be avoided while pathfinding. This method updates the list of obstacles that the pathfinding algorithm should avoid.
Parameters
obs
A List of Translation2d pairs representing obstacles. Each Translation2d represents opposite corners of a bounding box.
current
The current position of the robot. This is needed to change the start position of the path to properly avoid obstacles.