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Compute cell indices along a ray

`[`

returns cell indices of the specified `endpoints`

,`midpoints`

]
= raycast(`map`

,`pose`

,`range`

,`angle`

)`map`

for all cells
traversed by a ray originating from the specified `pose`

at
the specified `angle`

and `range`

values.
`endpoints`

contains all indices touched by the end of the
ray, with all other points included in `midpoints`

.