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Reference issue
Reproduced on
masterat 61a8b0b.What does this implement/fix?
A nearer return overwrites a previously measured farther endpoint with the unknown value when both occupy the same angular bin. This makes the occupancy grid depend on input order. Keep occupied cells when marking the shadow behind an observation.
Additional information
The regression casts the same two returns in both orders and checks free, occupied and occluded cells. The regression failed on the original implementation and passed after the fix. Tested with Python 3.13.17 and the repository's pinned requirements. The modified module's tests and examples passed, Ruff passed, and the Sphinx HTML build succeeded.
CheckList