MapsManager/Grid: Filling unknown space around the last pose using the laser scan parameters

src/MapsManager.h

@@ -58,6 +58,8 @@ public:
 			float & yMin,
 			float & gridCellSize);
 
+	void setLaserScanParameters(float maxRange, float minAngle, float maxAngle, float increment);
+
 #ifdef WITH_OCTOMAP
 	octomap::OcTree * createOctomap(const std::map<int, rtabmap::Transform> & poses);
 #endif
@@ -78,6 +80,11 @@ private:
 	double mapFilterAngle_;
 	bool mapCacheCleanup_;
 
+	float laserScanMaxRange_;
+	float laserScanMinAngle_;
+	float laserScanMaxAngle_;
+	float laserScanIncrement_;
+
 	ros::Publisher cloudMapPub_;
 	ros::Publisher projMapPub_;
 	ros::Publisher gridMapPub_;