avoidPolygons
fun avoidPolygons(start: Pose2D, finish: Pose2D, radius: Double, vararg polygons: Polygon<Vector2D<Float64>>): List<Trajectory2D>
fun avoidPolygons(start: Pose2D, finish: Pose2D, radius: Double, polygons: Collection<Polygon<Vector2D<Float64>>>): List<Trajectory2D>