Fix issue with vision bounds not including the vision origin #4645
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The vision sweep is only well-behaved if it has bounds surrounding the origin. It is not enough that we use the vision bounds since certain cases may not guarantee that the vision shape include the vision origin. So we now make sure to explicitly expands the sweep bounds to include the origin. Also some separation of concerns: `EndpointSet` has no reason to know anything about vision, not even just to provide initial bounds. So now it only tracks the bounding box of its contents and nothing else.
cwisniew
approved these changes
Jan 21, 2024
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Identify the Bug or Feature request
Fixes #4637
Description of the Change
The vision sweep is only well-behaved if it has bounds surrounding the origin. It is not enough that we use the vision bounds since certain cases may not guarantee that the vision shape include the vision origin. So we now make sure to explicitly expand the sweep bounds to include the origin.
Also some separation of concerns:
EndpointSethas no reason to know anything about vision, not even just to provide initial bounds. So now it only tracks the bounding box of its contents and nothing else.Possible Drawbacks
None
Documentation Notes
N/A
Release Notes
This change is