Collision detection #156
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Collision detection #156
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Декомпозировал движок симуляции, вынес в SimulatorMap всё, что связано с вычислениями карты. Сейчас это лидарное облако и коллизии. Карта хранит препятствия в качестве состояния.
Добавлен поиск коллизий трака (точнее, коробочки - shape) с препятствиями (отрезками).
Поиск коллизий оптимизирован с помощью RTree из библиотеки Boost.
Симуляция прерывается при коллизии.
Добавлено перечисление StatusCode. При коллизии поле status_ в движке устанавливается в COLLISION.
Для откладки добавлено поле в SimulationState.msg.