Ego vehicle centered

[TheCodez]

@cbachhuber this is what I was talking about in #47

[cbachhuber]

Right, thanks for drawing 👍

I guess implementing this makes sense when the framework is flexible enough to support multiple sensor inputs. Currently, I don't see a large benefit of this. Do you agree with this?

Are you adhering to the priorities assigned to the issues? Now that the end-to-end correctness is proven, my highest priority in this repo is cleaning the architecture. That's at the moment splitting the quite large DOGM-godclass into smaller elements such as the measurement grid generator (your work on #8 and #51). Once that is done, I imagine separating the grid data from the functionality would make sense.

[TheCodez]

Agree, this is actually one of the reasons this still isn't implemented.

Yes, I'll reorder the labels based on the current priorities.