Added a break to the movePointOutsideCSpace() method, this should keep out of an infinite loop. Debug statements are also added to track down the error.

System crashing when Ghost objects are being created. Made lists specific to HullObject instead of CollisionObject. Should try to refresh C-Space instead of deleting and rebuilding.

Memory leak fixed from obstacles and C-Space creation.

Bug fix under path planner and A* search with limited range sensor visibility. The Path recreation was not accessing valid list data. Also reworked the mean coverage area for obstacles.

User obstacle size was incorrect, use half dims

User defined obstacles can be added using command-a.

Fixed path loading, contact points were not shown properly during path stepping.

path loading from an XML file is working, lacking the comp efficiency calculation.

Fixed local minima, the path stays outside of obstacles and will travel around them in a CCW or CW spin direction for a distance specified by the user.

Working on a better local minima function to circumnavigate the blocking obstacle. still incomplete

added movePointOutsideCSpace() function to keep step paths from moving inside C-Space, this appears to have fixed the problem. However there are no limits on how big of a search pattern the new function will cover.

Obstacles are added or removed if the obstacle count changes. If the count doesn't change then they are randomized. New obstacles are added to the older ones as the count increases during an automation run. The user can specify the count two different ways, as a string of comma seperated densityies or as a min:increment:max format.

Removed some clutter in the path search and path tool objects.

Path searching is using A* now, similar to my approach however MUCH faster.

Path Plan searching can be based on visible nodes only or a full surch. The check box has been added to the path editing field as well as the configuration file under Path_Visibility.