Vector2D edgeAvoidance(Agent &agent, const std::vector<Edge>& edges)
{
    int ClosestEdge = -1;

    /* What you'd want to do here is iterate through a series of
    *  lines connected to the agent ("feelers"; denoted 'flr') and check to see
    *  if they intersect with an edge in the list. Do this and find the closest
    *  edge for each of them. Once found, we will calculate the steering force
    *  AWAY from said edge.*/

    ...

  // for all the "feelers": flr, also iterate through all the edges: curEdge
  {

    if (ClosestEdge >=0)
    {
      Vector2D OverShoot = agent.feelers[flr] - (*curEdge).normal();

      /* Create a force in the direction of the edge's normal, with a
      *  magnitude of the overshoot*/
      SteeringForce = edges[ClosestEdge].normal() * OverShoot.length();
    }

  }
  return SteeringForce;
}