Separate scan and pose update, non-scan dependent collision checking#105

Draft

hzheng40 wants to merge 8 commits intov1.0.0from dev_scan_update

+191-36

Commits on Dec 30, 2023

initial impl, separated scan and pose update, used jax (numba doesn't work), slower than just using scan, fix example.
hzheng40
committed

Commits on Dec 31, 2023

Commits on Jan 1, 2024