grid_geometry.hpp

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#pragma once
 
#include <cmath>
 
struct GridGeometry {
  double angle;                // Angular resolution (°)
  double radius;               // Base radial bin size (m)
  double start_augmentation;   // Distance at which augmentation starts
  double radius_augmentation;  // Bin size increase per bin (m)
  double fov;                  // Field of view (°)
 
  GridGeometry(double angle_, double radius_, double start_aug_, double radius_aug_, double fov_);
 
  int get_slice_index(double x, double y) const;
 
  int get_bin_index(double x, double y) const;
 
  int get_num_slices() const;
 
  int get_num_bins(double range) const;
};