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Draw RRT obstacles as data-coordinate circles (fixes #1396) - #1501
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Obstacles were drawn with plt.plot(ox, oy, "ok", ms=30 * size). Marker size is in points, so the circles did not match the obstacle radius used for collision checking and changed apparent size when the figure was resized or made fullscreen. Draw each obstacle with plt.Circle((ox, oy), size) instead, so it is sized in data units and matches the collision radius at any figure size. Applies to RRT Dubins, RRT* Dubins, RRT* Reeds-Shepp, Informed RRT*, Batch Informed RRT* and LQR-RRT*.
Each affected planner's draw_graph must draw one Circle per obstacle with the obstacle's center and collision radius. These tests fail with the previous marker-based drawing.
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