update

src/grid_map.hpp

@@ -44,6 +44,9 @@ public:
     // ── Morphological close (remove noise, merge nearby blobs) ──
     void morphologyClose(int kernel_size = 3);
 
+    // ── Reset dynamic obstacles to static PGM layer ──
+    void resetDynamic();
+
     // ── Pre-built obstacle marks ───────────────────────
     void markCircle(double wx, double wy, double radius, uint8_t value = 255);
     void markRect(double x1, double y1, double x2, double y2, uint8_t value = 255);
@@ -55,6 +58,7 @@ public:
 
 private:
     OccupancyGrid cells_;
+    OccupancyGrid static_cells_;  // snapshot after PGM load
     void bresenhamLine(int gx0, int gy0, int gx1, int gy1, uint8_t clear_val);
 };