add optimal_way_to using dijkstra

paper.md

@@ -0,0 +1,260 @@
+[
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+    "type": "polygon",
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+    "last_updated": 1766327750.023377
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+  {
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+    "name": "Polygon Obstacle 3",
+    "type": "polygon",
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+    "last_updated": 1766327750.027871
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+  {
+    "id": "b6a5ec7c",
+    "name": "Polygon Obstacle 4",
+    "type": "polygon",
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+    "last_updated": 1766327750.0289862
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+  {
+    "id": "9bf135c3",
+    "name": "Ellipse Obstacle 1",
+    "type": "ellipse",
+    "position": {
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+    "last_updated": 1766327750.0245
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+]