Added path showing

src/navigation/PathFinder.h

@@ -19,6 +19,12 @@ public:
         int z = 0;
     };
 
+    struct NavigationArea {
+        std::string name;
+        bool available = true;
+        std::vector<Eigen::Vector2f> polygon;
+    };
+
     void build(const std::vector<ObstacleMesh>& obstacleMeshes,
                const std::string& configPath,
                const std::string& zipPath = "");
@@ -29,13 +35,10 @@ public:
     bool setAreaAvailable(const std::string& areaName, bool available);
     bool isReady() const { return ready; }
     bool isWalkable(const Eigen::Vector3f& point) const;
+    const std::vector<NavigationArea>& getAreas() const { return areas; }
+    float getFloorY() const { return floorY; }
 
 private:
-    struct NavigationArea {
-        std::string name;
-        bool available = true;
-        std::vector<Eigen::Vector2f> polygon;
-    };
 
     float cellSize = 0.4f;
     float agentRadius = 0.45f;