message: get points for shape
diff: @@ -109,7 +109,7 @@ struct Shape {
  std::shared_ptr<Shape<G, T>> Transform(const Pose& pose) const;
  // Scales in x- and y-direction separately
  - std::shared_ptr<Shape<G, T>> Scale(const double& x_dir, const double& y_) const;
  + virtual std::shared_ptr<Shape<G, T>> Scale(const double& x_dir, const double& y_) const;
  virtual bool Valid() const;
  @@ -121,6 +121,14 @@ struct Shape {
  return true;
  }
  + std::vector<T> GetPoints() const {
  + std::vector<T> points;
  + std::copy(Shape<G, T>::obj_.begin(),
  + Shape<G, T>::obj_.end(),
  + std::back_inserter(points));
  + return points;
  + }
  +
  std::pair<T, T> BoundingBox() const {
  boost::geometry::model::box<T> box;
  boost::geometry::envelope(obj_, box);
  