[x] Merge #40 before this PR since it includes some breaking API changes.
[x] Rebase this branch on top of the new main.
[x] Finish documentation for ParticleFilter::GetPredictedPointCloud.
This PR contains an implementation for ParticleFilter::GetPredictedPointCloud. It does a brute force check to find all intersections between laser scans lines and the vector map lines. The closest intersection on a laser scan line is taken if multiple exist.
This PR doesn't match the exact specifications for #32, but we can trivially compute the point cloud at each particle by calling the function multiple times with the particles' locations and angles in the map frame.
Pending Tasks
main.ParticleFilter::GetPredictedPointCloud.This PR contains an implementation for
ParticleFilter::GetPredictedPointCloud. It does a brute force check to find all intersections between laser scans lines and the vector map lines. The closest intersection on a laser scan line is taken if multiple exist.This PR doesn't match the exact specifications for #32, but we can trivially compute the point cloud at each particle by calling the function multiple times with the particles' locations and angles in the map frame.
Closes #32