generateNavigationGraph

the origin of the environment, defaults to (0,0).

the width of the environment (only positive).

the height of the environment (only positive).

the obstacles of the environment (only convex polygonal obstacles
are supported).

a collection of positions where to plant initial seeds. In indoor
environments, these positions are usually located inside rooms
(and corridors), hence the name of the parameter.

the quantity considered to be a unit in the environment (defaults
to 1.0 because this algorithm works best with environments featuring
integer coordinates). In the growing phase, each side of each seed
will be advanced of a quantity equal to unity iteratively, hence the
smaller this value is the slower the algorithm will be.