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Fix/path smoothing robot radius #1231

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Reference issue

What does this implement/fix?

This PR fixes an issue in the path_smoothing() function, where the collision checking via line_collision_check() did not take robot_radius into account correctly. This caused the smoothed path to pass dangerously close to obstacles.

  • Modified line_collision_check() to check collision along finite-length line segments and incorporate robot_radius.
  • Updated path_smoothing() logic to use this corrected check.
  • Added a new unit test to verify that smoothed paths maintain clearance from obstacles based on robot radius.

Additional information

  • Confirmed original vs smoothed paths via animation and test assertions.

CheckList

  • Did you add an unittest for your new example or defect fix?
  • Did you add documents for your new example? N/A (not a new algorithm)
  • All CIs are green? (You can check it after submitting)

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Successfully merging this pull request may close these issues.

Bug: path_smoothing() Ignores robot_radius, Causing Smoothed Paths to Violate Obstacle Clearance
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