Merge branch 'main' of github.com:bit-bots/bitbots_rust_nav

Author: Flova

README.md

@@ -1,17 +1,25 @@
 # bitbots_rust_nav
 
-A best-effort A*-on-visibility-graph implementation for pathplanning in obstacles maps where obstacles and the robot itself are assumed to be round. 
+A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round. 
+
+## Installation
+
+```bash
+pip install git+https://github.com/bit-bots/bitbots_rust_nav
+```
+
+## API
 
 It exports three classes
 
-## `RoundObstacle`
+### `RoundObstacle`
 
 Represents a round obstacle with public fields `center: (float, float)` and `radius: float`. Can be created with the constructor `RoundObstacle(center, radius)`
 
-## `ObstacleMapConfig`
+### `ObstacleMapConfig`
 
 Represents all configuration values for how obstacles should be treated with public fields `dilate: float` - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and `num_vertices` - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor `ObstacleMapConfig(dilate, num_vertices)`
 
-## `ObstacleMap`
+### `ObstacleMap`
 
-Represents a set of obstacles on a plane with a given config. This has two fields: `config: ObstacleMapConfig` and `obstacles: [RoundObstacle]`. Can be created with the constructor `ObstacleMap(config, obstacles)`
+Represents a set of obstacles on a plane with a given config. This has two fields: `config: ObstacleMapConfig` and `obstacles: [RoundObstacle]`. Can be created with the constructor `ObstacleMap(config, obstacles)`