OccupyGridMap

参考网址:

无处不在的小土-pr_chapter9 (gaoyichao.com)

markcsie/OccupancyGridMapping (github.com)

原理

GridMapping *laserGridMapping = new GridMapping();
updateGridMap(pose,scan);
	- gridToXY();
	- inverseSensorModel();
showGridMap();
saveGridMap();