% Function to check for collisions along the line segment
function collision = checkCollisionAlongLine(pointA, pointB, L1, L2)
    collision = false;

    % Define a set of points along the line segment
    numPoints = 100;
    xValues = linspace(pointA(1), pointB(1), numPoints);
    yValues = linspace(pointA(2), pointB(2), numPoints);

    for i = 1:numPoints
        x = xValues(i);
        y = yValues(i);

        % Check if the point collides with obstacles
        if (y >= L1) || (y <= -L1) || (x >= -L2 && x <= L2 && y >= -L2 && y <= L2)
            collision = true;
            break;
        end
    end
end