Integration with radar udp publisher (#282)

* Fix compilation error

* Store last sample value in RunningStats

* Micro optimization

* Add missing class

* Rename RuningStats -> RunningStats

* Change target branch for udp extension to run CI properly

Author: msz-rai

extensions.repos

@@ -2,7 +2,7 @@ repositories:
   extensions/udp:
     type: git
     url: [email protected]:RobotecAI/RGL-extension-udp.git
-    version: develop
+    version: feature/q2-features
 
   extensions/snow:
     type: git

src/GPUFieldDescBuilder.hpp

@@ -19,8 +19,6 @@
 
 #include <RGLExceptions.hpp>
 #include <gpu/GPUFieldDesc.hpp>
-#include <graph/Interfaces.hpp>
-#include <graph/NodesCore.hpp>
 #include <memory/Array.hpp>
 
 // Builder for GPUFieldDesc. Separated struct to avoid polluting gpu-visible header (gpu/GPUFieldDesc.hpp).

src/graph/NodesCore.hpp

@@ -30,7 +30,7 @@
 #include <gpu/nodeKernels.hpp>
 #include <CacheManager.hpp>
 #include <GPUFieldDescBuilder.hpp>
-#include <math/RuningStats.hpp>
+#include <math/RunningStats.hpp>
 #include <gpu/MultiReturn.hpp>
 
 
@@ -621,6 +621,7 @@ struct RadarTrackObjectsNode : IPointsNodeSingleInput
 		uint8_t classPedestrian{0};
 		uint8_t classAnimal{0};
 		uint8_t classHazard{0};
+		uint8_t classUnknown{0};
 	};
 
 	struct ObjectState

src/math/RuningStats.hpp renamed to src/math/RunningStats.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 Robotec.AI
+// Copyright 2024 Robotec.AI
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -29,14 +29,17 @@ class RunningStats
 		return stats;
 	}
 
-	void addSample(StatType sample)
+	void addSample(const StatType& sample)
 	{
 		++counter;
-		StatType delta = sample - mean;
+		const StatType delta = sample - mean;
 		mean += delta / counter;
 		m2 += delta * (sample - mean);
+		lastSample = sample;
 	}
 
+	StatType getLastSample() const { return lastSample; }
+
 	StatType getMean() const { return mean; }
 
 	StatType getVariance() const { return counter < 2 ? StatType{} : m2 / counter; }
@@ -71,4 +74,5 @@ class RunningStats
 	size_t counter{0};
 	StatType mean{0};
 	StatType m2{0};
+	StatType lastSample{0};
 };