Add a README file containing: a brief, description of the project; info on the interface, 
i.e. everything one needs to know in order to run your code; a list of known bugs (if any) 
and when they happen; a list of the main functions you implemented (); any extra features you implemented.


This project implements approximate motion planning for a polygonal robot moving among polygonal obstacles
in 2d with translation and rotation (3dof) using the A* algorithm. Gridding is used to discretise the space 
and the dimensions of the grid can be specified at the top of the 3dof.cpp file through the Kx and ky variables.
The precision of rotation (the smallest angle the robot can turn in one rotation) can also be manipulated by 
changing the Ktheta variable. 

Running the code:
Once the program is running you can press 's' to start drawing the obstacles for the scene. Once you have drawn the 
first obstacle you can press 'n' to start drawing a new one, each time 'n' is pressed a new obstacle will be drawn.
Once you have drawn all the obstacles you can press 'a' to specify the start position with a mouse click and 'z' to specify the end
position. 'r' will change the mode to draw the vertices of the robot with mouseclicks. Once all this is set up you can press 'h' to 
generate the approximate path and this will also start the animation of the robot along the path on a loop. The animation can be paused 
and resumed by pressing 'g'.

Extra features:
- The obstacles are filled in which required a method to triangulate the polygons (this filling can be turned on and off using 'f')
- The robot can move diagonally in addition to up, down, left, right, +theta, -theta

Bugs
- You must set Kx and Ky values as factors of the WINDOWSIZE otherwise there will be rounding issues which will cause illegal access of 
memory when accessing the graph
- Animation can get slow at higher values of Kx, Ky, and Ktheta