resolved changes requested in my pr

rj_geometry/include/rj_geometry/stadium_shape.hpp

@@ -24,11 +24,28 @@ class StadiumShape : public Shape {
         init(c1, c2, r);
     }
 
+    StadiumShape(const StadiumShape& other) {
+        for (const auto& shape : other.subshapes_) {
+            std::shared_ptr<Shape> itr_shape = std::shared_ptr<Shape>(shape->clone());
+            subshapes_.push_back(itr_shape);
+        }
+        drawshapes_ = other.drawshapes_;
+    }
+
     [[nodiscard]] Shape* clone() const override;
 
     [[nodiscard]] bool contains_point(Point pt) const override;
     [[nodiscard]] bool near_point(Point pt, float threshold) const override;
 
+    using const_iterator = std::vector<std::shared_ptr<Shape>>::const_iterator;
+    using iterator = std::vector<std::shared_ptr<Shape>>::iterator;
+
+    [[nodiscard]] const_iterator begin() const { return subshapes_.begin(); }
+    [[nodiscard]] const_iterator end() const { return subshapes_.end(); }
+
+    iterator begin() { return subshapes_.begin(); }
+    iterator end() { return subshapes_.end(); }
+
     [[nodiscard]] const std::vector<std::shared_ptr<Shape>>& subshapes() const {
         return subshapes_;
     }
@@ -37,6 +54,42 @@ class StadiumShape : public Shape {
         return drawshapes_;
     }
 
+    std::shared_ptr<Shape> operator[](unsigned int index) {
+        return subshapes_[index];
+    }
+
+    std::shared_ptr<const Shape> operator[](unsigned int index) const {
+        return subshapes_[index];
+    }
+
+     template <typename T>
+    [[nodiscard]] bool hit(const T& obj) const {
+        for (const auto& it : *this) {
+            if (it->hit(obj)) {
+                return true;
+            }
+        }
+
+        return false;
+    }
+
+    [[nodiscard]] bool hit(Point pt) const override { return hit<Point>(pt); }
+
+    [[nodiscard]] bool hit(const Segment& seg) const override {
+        return hit<Segment>(seg);
+    }
+
+     std::string to_string() override {
+        std::stringstream str;
+        str << "StadiumShape<";
+        for (auto& subshape : subshapes_) {
+            str << subshape->to_string() << ", ";
+        }
+        str << ">";
+
+        return str.str();
+    }
+
 protected:
     void init(Point c1, Point c2, float r);
 

soccer/src/soccer/debug_drawer.cpp

@@ -48,12 +48,6 @@ void DebugDrawer::draw_circle(rj_geometry::Point center, float radius, const QCo
     dbg->set_color(color(qc));
 }
 
-// void DebugDrawer::draw_stadium(rj_geometry::StadiumShape& stadium, const QColor& qc, const QString& layer) {
-//     this->draw_circle(stadium.drawshapes()[0], qc, layer);
-//     this->draw_polygon(stadium.drawshapes()[1], qc, layer);
-//     this->draw_circle(stadium.drawshapes()[2], qc, layer);
-// }
-
 void DebugDrawer::draw_arc(const rj_geometry::Arc& arc, const QColor& qc, const QString& layer) {
     Packet::DebugArc* dbg = log_frame_.add_debug_arcs();
     dbg->set_layer(find_debug_layer(layer));

soccer/src/soccer/debug_drawer.hpp

@@ -4,7 +4,6 @@
 
 #include <rj_geometry/arc.hpp>
 #include <rj_geometry/composite_shape.hpp>
-#include <rj_geometry/stadium_shape.hpp>
 #include <rj_geometry/point.hpp>
 #include <rj_geometry/polygon.hpp>
 #include <rj_geometry/segment.hpp>
@@ -79,10 +78,6 @@ class DebugDrawer {
                      const QColor& qw = Qt::black,
                      const QString& layer = QString());
 
-    // void draw_stadium(rj_geometry::StadiumShape& stadium, 
-    //                 const QColor& qc = Qt::black, 
-    //                 const QString& layer = QString());
-
     /**
      * Fill the given log frame with the current debug drawing information,
      * and reset our current debug drawing data for the next cycle.

soccer/src/soccer/planning/planner/plan_request.cpp

@@ -84,10 +84,9 @@ void fill_obstacles(const PlanRequest& in, rj_geometry::ShapeSet* out_static,
             rj_geometry::Point bp_point = maybe_bp_point.value();
             rj_geometry::StadiumShape stadium = rj_geometry::StadiumShape{in.world_state->ball.position, bp_point, ball_obs.radius()};
 
-            // for some reason adding the shared pointer below to our static obstacles breaks it, so we add the shape set it has instead.
-            // std::shared_ptr<rj_geometry::Shape> track_obs_ptr = std::make_shared<rj_geometry::Shape>(stadium);
+            std::shared_ptr<rj_geometry::StadiumShape> track_obs_ptr = std::make_shared<rj_geometry::StadiumShape>(stadium);
 
-            out_static->add(stadium.drawshapes());
+            out_static->add(track_obs_ptr);
 
             if (in.debug_drawer != nullptr) {
                 QColor draw_color = Qt::red;