lidar: per-direction occlusion mask (compact rays + dense ObkScan sca… - #174
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…tter) LidarInterface::setup_rays now accepts an optional `pattern.mask` (path to a 0/1 grid file or inline list, v*nh+h order). Masked rays are dropped from the local ray set so mj_multiRay batches fewer rays; a compacted->dense index map lets the ObkScan publisher scatter results back into the full nv*nh grid with a NaN (no-hit) at masked bins, keeping the dense array index-aligned with the policy. The PointCloud2 path needs no change (compaction => masked bins simply produce no points). Adds base virtuals get_dense_num_rays / is_masked / get_dense_index (default = unmasked identity). Used by the g1_nav v2 masked head-lidar scan configs (nav_head_lidar*_v2.yml). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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…tter)
LidarInterface::setup_rays now accepts an optional
pattern.mask(path to a 0/1 grid file or inline list, vnh+h order). Masked rays are dropped from the local ray set so mj_multiRay batches fewer rays; a compacted->dense index map lets the ObkScan publisher scatter results back into the full nvnh grid with a NaN (no-hit) at masked bins, keeping the dense array index-aligned with the policy. The PointCloud2 path needs no change (compaction => masked bins simply produce no points). Adds base virtuals get_dense_num_rays / is_masked / get_dense_index (default = unmasked identity).Used by the g1_nav v2 masked head-lidar scan configs (nav_head_lidar*_v2.yml).