raytracing for occupancy grid map
Hello: Can someone help me to get the ray-tracing code for occupancy grid map. I know its somewhere sitting may be in costmap or gmapping or a standalone node but I want to know exactly.
I am looking for something like:
void raycasting_occupancygridmap(robot pose, &range image);
This function should take the robot pose as input and return range image as output.
this function have the following information:
1. current grid map
2. sensor parameters (FOV, resolution and may be max range if needed)
looking forward for help.
Thanks in advance Daniel
This looks an awful lot like you're asking us to do your homework for you.