ray_ground_filter differing from specification?

edit

I'm looking at the implementation for the ray_ground_filter for Autoware.AI, while also reading the documentation (from Autoware.Auto, referred by the Autoware.AI repo).

From the documentation, if the current point is not within the local cone it will only be set as 'ground' if it is distant by a minimum threshold and, at the same time, is within the global cone.

However, the code is comparing the current height with the local cone height instead of the global cone height. I believe this comparison is in line 197 of the code (commit 4bf37a8).

Shouldn't it be comparing:

(current_height <= general_height_threshold && current_height >= -general_height_threshold)

instead of the current:

(current_height <= height_threshold && current_height >= -height_threshold)?

Otherwise, am I missing something on how this is compliant with the documentation?

Thank you.