Add option to inflate unknown space#1675

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SteveMacenski merged 7 commits intoros-navigation:masterfrom

shrijitsingh99:unknown-inflation

May 14, 2020

Commits on May 14, 2020

Add option to inflate around unknown space
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Convert 2D caches to 1D vectors for automatic memory management and better locality
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Fix bug regarding lower bound of double in worldToMapEnforceBounds
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Add general optimizations and modern syntax
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Switch from map<double> to vector<> in using precached integer distances
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Add tests for inflate_unknown and inflate_around_unknown
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Remove commented out assert
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