ground_grid.hpp

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#pragma once
#include <algorithm>
#include <cmath>
#include <limits>
#include <rclcpp/rclcpp.hpp>
#include <vector>
 
#include "utils/grid_geometry.hpp"
 
class GroundGrid {
public:
  GroundGrid() = default;
 
  GroundGrid(const double range, const double angle, const double radius,
             const double start_augmentation, const double radius_augmentation, const double fov);
 
  float get_ground_height(const float x, const float y) const;
 
  void set_ground_height(const float x, const float y, const float height);
 
  void reset_grid();
 
private:
  double range_;                          // Maximum range of the grid
  GridGeometry grid_geometry_;            // Grid geometry struct for grid calculations
  std::vector<std::vector<float>> grid_;  // 2D grid to hold ground heights, initialized to NaN
};