[Refactor] Migrate grid_map_core → nanoGrid - #16
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Replace vendored grid_map_core with nanoGrid as external FetchContent dependency. This establishes nanoGrid as the shared vocabulary type for GridMap, enabling FastDEM, FastTrav, and FastPlan to be independent peers. BREAKING CHANGE: namespace grid_map:: → nanogrid:: Build: - FetchContent(nanoGrid) replaces add_subdirectory(lib/grid_map_core) - cmake_minimum_required bumped to 3.14 API: - ElevationMap inherits nanogrid::GridMap (was grid_map::GridMap) - MapIndexer removed — replaced by nanoGrid cells()/neighbors() - CellMap alias moved from nanoGrid to fastdem namespace - grid_index_hash.hpp deleted (nanoGrid provides IndexHash) Iteration pattern migration (6 production files): - feature_extraction: cells() + region(radius) + neighbors() - uncertainty_fusion: cells() + neighbors() + n.dist_sq - inpainting: cells() + region(Size) + neighbors() - spatial_smoothing: cells() + region(Size) + neighbors() - pcd_convert: cells() + logical coord position - impl_visualization: cells() + stride filter Deleted: - lib/grid_map_core/ (vendored, ~10k lines) - benchmark_postprocess_iteration.cpp (comparison target removed) 23/23 tests pass.
FetchContent requires git to clone nanoGrid.
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Summary
grid_map_corewith nanoGrid via FetchContentMapIndexerwith nanoGridcells()/region()/neighbors()APIChanges
Build:
FetchContent(nanoGrid)replacesadd_subdirectory(lib/grid_map_core)cmake_minimum_requiredbumped to 3.14Core:
grid_map::→nanogrid::ElevationMapinheritsnanogrid::GridMapMapIndexerremoved — usemap.cells()+map.neighbors(cell, region)insteadCellMap<T>moved tofastdemnamespacegrid_index_hash.hppdeleted (nanoGrid providesIndexHash)Iteration migration (6 files):
feature_extraction.cppcells()+region(radius)+neighbors()uncertainty_fusion.cppcells()+neighbors()+n.dist_sqinpainting.cppcells()+region(Size)+neighbors()spatial_smoothing.hppcells()+region(Size)+neighbors()pcd_convert.cppcells()+ logical coord positionimpl_visualization.hppcells()+ stride filterDeleted:
lib/grid_map_core/(~10k lines)benchmark_postprocess_iteration.cpp(comparison target removed)Test plan