Convert to PolyLine in obstacle -- bug
In Obstacle.cpp -> bool Obstacle::ConvertLineToPoly(),
ISSUE 1) while converting the walls to a polygon, (see fig below) for Poly (A), (B) and (C) it is considered as a closed polygon. But for Poly (D), though Line L5 is just an extension of the closed polygon, Poly (D) is not considered as a closed polygon. This needs to be addressed.
ISSUE 2) For failed closed polygon conditions, the return value should be false. But there is a memory access violation thrown by the compiler instead, during test run.