The goal of this algorithm is to check if there is any collision with another boat or with the border of the sailing zone in the current route, represented by a list of waypoints. You can specify the sailing zone, the number and the trajectory of the other boat, and the waypoints list in a JSON file “config.json”.
[[[coordinates of the 1st point of the 1st border],... [coordinates of the last point of the 1st border]],
[[coordinates of the 1st point of the 2nd border],... [coordinates of the last point of the 2nd border]]
[...]
]
If you doesn't want any border : just put an empty vector []
[[coordinates of the 1st waypoint],... [coordinates of the last waypoint]]
[[[uncertainty interval on the speed of the 1st obstacle], [uncertainty interval on the x coordinate of the 1st obstacle], [uncertainty interval on the y coordinate of the 1st obstacle], [uncertainty interval on the heading of the 1st obstacle]],
[[uncertainty interval on the speed of the 2nd obstacle], [uncertainty interval on the x coordinate of the 2nd obstacle], [uncertainty interval on the y coordinate of the 2nd obstacle], [uncertainty interval on the heading of the 2nd obstacle]],
[...]
]
If you doesn't want any other boats : just put an empty vector []