circumvention
fun Obstacle.circumvention(direction: Trajectory2D.Direction, fromIndex: Int): CompositeTrajectory2D
Create an obstacle circumvention in given direction starting (including) from obstacle node with given fromIndex
fun Obstacle.circumvention(direction: Trajectory2D.Direction, fromIndex: Int, toIndex: Int): CompositeTrajectory2D
Create an obstacle circumvention in given direction starting (including) from obstacle node with given fromIndex and ending (including) at obstacle node with given toIndex