end_in_obstacle_sample.h

#pragma once
 
#include "software/ai/navigator/obstacle/obstacle.hpp"
#include "software/geom/point.h"
#include "software/geom/rectangle.h"
 
std::optional<Point> endInObstacleSample(const std::vector<ObstaclePtr>& obstacles,
                                         const Point& point,
                                         const Rectangle& navigable_area,
                                         int initial_count = 6, double radius_step = 0.15,
                                         int samples_per_radius_step = 2,
                                         double max_search_radius    = 4.0);