| http://www.w3.org/ns/prov#value | - This is possible when precompiling the map, but not advised.A better approach is to use occlusion: for every obstacle edge, compute the invisibility cone that goes out from that edge (if you prefer, the shadow that would be cast by the edge if there was a light at the starting point) and eliminate all points in the scene which fall within that cone (as well as any obstacle edges fully within tha
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