changed README

Author: Helena Jäger

README.md

@@ -1 +1,17 @@
-# bitbots_pathplanning_rust
+# bitbots_pathplanning_rust
+
+A best-effort A*-on-visibility-graph implementation for pathplanning in obstacles maps where obstacles and the robot itself are assumed to be round. 
+
+It exports three classes
+
+## `RoundObstacle`
+
+Represents a round obstacle with public fields `center: (float, float)` and `radius: float`. Can be created with the constructor `RoundObstacle(center, radius)`
+
+## `ObstacleMapConfig`
+
+Represents all configuration values for how obstacles should be treated with public fields `dilate: float` - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and `num_vertices` - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor `ObstacleMapConfig(dilate, num_vertices)`
+
+## `ObstacleMap`
+
+Represents a set of obstacles on a plane with a given config. This has two fields: `config: ObstacleMapConfig` and `obstacles: [RoundObstacle]`. Can be created with the constructor `ObstacleMap(config, obstacles)`