ARM looks fine (except 1 point in frame4)

env/frame1.json

env/frame1a.json

env/frame1b.json

env/frame2.json

env/frame3.json

env/frame4.json

env/frame5.json

env/frame7.json

form/MainWindow.cpp

geometry/Circle.cpp

planner/ARMBuilder.cpp

planner/OccupancyGrid.cpp

planner/OccupancyGrid.h

planner/PlannerThread.cpp