Obstacles
Input is read from a space delimited text file, selected using menu item File | Calculate
The first line must contain
format obs
The second line specifies the the rectangular grid size, and the radius of the robot's coverage
nx ny radius
The remaining lines specify the grid locations of obstacles
x y
format obs
20 20 2
4 4
5 5
6 6
14 8
14 9
14 10
14 11
14 12
14 13
14 14
14 15
10 15
11 15
12 15
13 15
4 14
4 15
5 15
The first line must contain
format farm
The second line specifies the grid size. The obstacles will be placed 2 grid points apart, with room for the robot to pass between
nx ny
format farm
50 50
The first line must contain
format farm
The remaining lines specify the vertices of a polygon shaped field
p x y1
format farm
p 0 0
p 0 50
p 50 30
p 50 10
p 0 0
