Shortest path identification with obstacle avoidance

A set of functions to identify the shortest path between two points inside a closed polygonal arena

The set of functions are used to identify the shortest path between two points inside a closed polygonal arena. In the case of negotiating an obstacle, the path chosen will be such that it follows the (inflated) obstacle. The function works without the need to discretise the map e.g. by dividing the map into tiles and marking them as walkable or unwalkable.