Rangefinder needs to be able to account for field obstacles

[zhiquanyeo]

Currently the rangefinder ignores anything else on the field and only measures distance to the wall. It should be able to take into account any obstacles on the field as part of distance calculation

[bfelds]

hmm how would you go about this?

a sensor could pass a pos/vector to the field who then returns all intersecting obstacles?

[zhiquanyeo]

Yeah pretty much. Right now the rangefinder knows about the field (and basically all the objects on the field), so it would be a matter of figuring out everything intersecting the line from the robot to the far wall. Trying to figure out how to do it efficiently for a (potentially) large number of objects