- Makes speedup by seperating updating of voxel grid and updating of costmap
- Separates updating of mask and updating of voxel grid (needed for clearing with thick edges)
- Adds clearing with thick edges (rays also clear four neighbouring cells)
- Refactoring of clearing additional cells add edges of Bresenham algorithm (rays clear with thick edges)
- Added options for clearing with thick rays and clearing with thick edges
- Fix for obstacles which are out of reach because their z-position get changed to min_z
- Moves scaling to max_raytracing_range into voxel_layer, maybe removes it from some place where it should not be removed
- Some renaming & removing of unneeded scaling