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Fix Voronoi roadmap collision checks across the full edge - #1487

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Fix Voronoi roadmap collision checks across the full edge#1487
huxiaoyi-ovo wants to merge 2 commits into
AtsushiSakai:masterfrom
huxiaoyi-ovo:fix/voronoi-continuous-edge-collision

test(voronoi): cover swept edges and point-robot clearance

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