Online cone discovery: track candidates across frames, confirm after 3 hits

include/car_nav_lite/cone_updater.hpp

@@ -0,0 +1,38 @@
+#pragma once
+
+#include <vector>
+#include <Eigen/Dense>
+#include "car_nav_lite/types.hpp"
+#include "car_nav_lite/fence_model.hpp"
+
+namespace car_nav_lite {
+
+class ConeUpdater {
+public:
+    ConeUpdater();
+
+    // Process one scan frame: extract cone candidates, track across frames.
+    // confirmed_cones is the current known cone list (for dedup).
+    void update(const LaserScan& scan, const Pose2D& pose,
+                const FenceModel& fence,
+                const std::vector<Eigen::Vector2d>& known_cones);
+
+    // Returns newly confirmed cones and clears them from pending.
+    std::vector<Eigen::Vector2d> popConfirmed();
+
+private:
+    struct Candidate {
+        Eigen::Vector2d center;
+        int hits = 0;
+        int age = 0;
+    };
+    std::vector<Candidate> candidates_;
+
+    static constexpr int CONFIRM_HITS = 3;
+    static constexpr double CLUSTER_DIST = 0.10;
+    static constexpr double MERGE_DIST = 0.25;
+    static constexpr double WALL_DIST = 0.15;
+    static constexpr int MIN_POINTS = 4;
+};
+
+}  // namespace car_nav_lite