Update LidarSimulator API to use target vector

Refactored LidarSimulator interface to accept a vector of targets in the Run method instead of adding targets individually. Updated Cython bindings and usage in sim_lidar to construct and pass the target vector, improving efficiency and clarity of target management.

Author: rookiepeng

src/radarsimcpp

@@ -151,12 +151,10 @@ cdef extern from "simulator_rcs.hpp":
 cdef extern from "simulator_lidar.hpp":
     cdef cppclass LidarSimulator[T]:
         LidarSimulator() except +
-        
-        # Add a target to the scene
-        void AddTarget(const Target[T] & target)
-        
+
         # Generate point cloud by ray casting
-        void Run(const vector[T] & phi,      # Azimuth angles (radians)
+        void Run(vector[Target[T]] & targets,
+                 const vector[T] & phi,      # Azimuth angles (radians)
                  const vector[T] & theta,    # Elevation angles (radians)
                  const Vec3[T] & position)   # LiDAR sensor position
 

src/radarsimpy/includes/radarsimc.pxd

@@ -97,7 +97,9 @@ cpdef sim_lidar(lidar, targets, frame_time=0):
         numpy.ndarray - A structured array representing the Lidar ray interactions with the scene, including details such as ray origins, directions, and intersections.
     """
     cdef LidarSimulator[float_t] lidar_sim_c
-    
+
+    cdef vector[Target[float_t]] targets_vt
+
     # Memory view declarations
     cdef float_t[:, :] points_mv
     cdef int_t[:, :] cells_mv
@@ -133,7 +135,7 @@ cpdef sim_lidar(lidar, targets, frame_time=0):
         )
 
         # Add target to pointcloud
-        lidar_sim_c.AddTarget(Target[float_t](&points_mv[0, 0],
+        targets_vt.emplace_back(Target[float_t](&points_mv[0, 0],
                                              &cells_mv[0, 0],
                                              <int_t> cells_mv.shape[0],
                                              Vec3[float_t](&origin_mv[0]),
@@ -155,9 +157,10 @@ cpdef sim_lidar(lidar, targets, frame_time=0):
     Mem_Copy(&theta_mv[0], <int_t>(theta_mv.shape[0]), theta_vt)
 
     # Perform ray tracing
-    lidar_sim_c.Run(phi_vt,
-                     theta_vt,
-                     Vec3[float_t](&position_mv[0]))
+    lidar_sim_c.Run(targets_vt,
+                    phi_vt,
+                    theta_vt,
+                    Vec3[float_t](&position_mv[0]))
 
     # Prepare output
     ray_type = np.dtype([("positions", np_float, (3,)),