Forked from https://kforge.ros.org/gridutils/git with Catkinizing changes. The package contains utilities for dealing with occupancy grids, represented as nav_msgs::OccupancyGrid objects, including coordinate conversions, shortest paths, ray tracing, and constructing from laser scans.
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Add support for inverted scans in simulateRangeScan #15
Also cache the points so cos and sin are not re-computed for every scan.
@servos @efernandez