Added collision avoidance to MoveGlobal routine

mg_obstacles/src/permanent_obstacle.cpp

@@ -0,0 +1,23 @@
+#include "mg_obstacles/permanent_obstacle.hpp"
+#include "mg_obstacles/sdf.hpp"
+
+namespace mg {
+    PermanentObstacle::PermanentObstacle(const Json::Value& json) :
+      pos(json.get("x", 1.0).asDouble(), json.get("y", 1.0).asDouble()),
+      size(json.get("width", 0.0).asDouble(), json.get("height", 0.0).asDouble()) { }
+
+    double PermanentObstacle::distance(glm::dvec2 position) const {
+        return boxSdf(pos + 0.5 * glm::dvec2{ size.x, -size.y }, size * 0.5, position);
+    }
+
+    bool PermanentObstacle::contains(glm::dvec2 position, double radius) const {
+        return inBoxSdf(pos + 0.5 * glm::dvec2{ size.x, -size.y }, size * 0.5, position, radius);
+    }
+
+    double PermanentObstacle::distanceBox(const glm::dvec2 position,
+                                          const glm::dvec2 size,
+                                          const glm::dmat2 rot_mat) const {
+
+        return boxToBox(pos + 0.5 * glm::dvec2{ this->size.x, -this->size.y }, this->size, position, size, rot_mat);
+    }
+}