Requirements I wanted to implement a 2-D path planner for a mobile robot. I really like testing things in software, because it’s cheap. So I want to simulate 2D space.My robot sees the world as sets of connected points. We are given a bunch of lists of points. If the points in a list are “oriented” clockwise, that set defines an “outer boundary”. If that set of points is “oriented” counter-clockwise, it defines an “inner boundary,” a.

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