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feat: Implement GridMap as a precursor to Hector SLAM - #133
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Included review availability: Your plan provides up to 1 included review per hour; 0 remain after this review. 📝 WalkthroughWalkthroughThe pull request adds the Hector mapper grid map, including point-based addressing, interpolation with gradients, scan updates, error handling, and validation. It also exposes the module and updates Cargo features and profiles. ChangesHector mapper grid map
Cargo configuration cleanup
Priority: ➖ Normal Estimated code review effort: 5 (Critical) | ~90 minutes Change: Feature Sequence Diagram(s)sequenceDiagram
participant Caller
participant GridMap
participant ScanUpdater
participant BresenhamLine
Caller->>GridMap: begin_scan()
GridMap-->>ScanUpdater: scan updater
Caller->>ScanUpdater: update_ray(origin, endpoint, termination)
ScanUpdater->>GridMap: clip_segment(origin, endpoint)
GridMap-->>ScanUpdater: clipped segment
ScanUpdater->>BresenhamLine: walk clipped segment
BresenhamLine-->>ScanUpdater: crossed cell points
ScanUpdater->>GridMap: mark free and occupied cells
GridMap-->>Caller: updated-cell count or error
Merge Risk: ⚪ Minimal · up to No concrete correctness, compatibility, or availability issue remains that should block merging. 🚥 Pre-merge checks | ✅ 5✅ Passed checks (5 passed)
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Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## main #133 +/- ##
==========================================
+ Coverage 98.02% 98.75% +0.72%
==========================================
Files 17 20 +3
Lines 1825 3287 +1462
Branches 1825 3287 +1462
==========================================
+ Hits 1789 3246 +1457
- Misses 28 30 +2
- Partials 8 11 +3 ☔ View full report in Codecov by Harness. 🚀 New features to boost your workflow:
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Actionable comments posted: 2
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Inline comments:
In `@crates/mapping-suites/src/hector_mapper/grid_map/mod.rs`:
- Line 486: Update the upper-bound checks in clip_segment and its endpoint
containment logic to use half-open map bounds: treat coordinates equal to extent
as outside, rejecting parallel segments when origin[axis] >= extent and
reporting endpoints at the upper face as not inside. Preserve the existing
lower-bound behavior and projection for coordinates strictly below extent.
- Line 549: Update mark_free_at and mark_occupied_at so an occupied override
retracts only the effective free change applied after clamping, preserving the
cell’s original odds and ensuring a free-then-occupied scan ends at original
odds plus occupied_delta. Avoid subtracting the full free_delta when
mark_free_at was limited by min_log_odds.
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📒 Files selected for processing (8)
Cargo.tomlcrates/mapping-suites/Cargo.tomlcrates/mapping-suites/src/hector_mapper/grid_map/kernels.rscrates/mapping-suites/src/hector_mapper/grid_map/mod.rscrates/mapping-suites/src/hector_mapper/grid_map/scan.rscrates/mapping-suites/src/hector_mapper/grid_map/types.rscrates/mapping-suites/src/hector_mapper/mod.rscrates/mapping-suites/src/lib.rs
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- Cargo.toml
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Closes #5
Summary by CodeRabbit
New Features
Bug Fixes