Predict the point cloud at each particle

[elvout]

For each particle:

• Construct line segments for each theoretical ray scan of the LIDAR sensor
  • Line segments should start at the laser's reference frame
  • Restrict line segments to the minimum and maximum sensing distance
• Find intersections between each line segments and vectors in the map
  • If there are multiple intersection points, take the closest one

[elvout]

I think there's a function in the shared math library that checks for the intersection of two line segments