A generalized Voronoi diagram or graph (GVG) is a generalization of the point source voronoi diagram, or the set of points that are equidistant to two or more points in a given domain (see Wiki).
python fast_gvd.py environment_file_name start_x start_y goal_x goal_yThis is a brute force calculation that iterates over every point in the free space and calculates its distance to every point on the boundary set of points. It's slow. There's also a thresholding issue that can be tailored by editing `eps' in the gvd main file.