Can this source get a Signed Distance Field through multi-elevation map using Lidar sensor?

[son-youngwoo]

hello! First of all, thank you for openning very useful source code!

I'm trying to use this code, but I have 1 question.

I am using Lidar sensor and want to detect overhanging obstacles.

So I want to use Signed Distance Field through multi-elevation map like what to do in the paper, [Perceptive whole body planning for multi-legged robots in confined spaces] or [Walking posture adaptation for legged robot navigation in confied spaces], they use multi-elevation map.

If I use this source code, Is it possible to get a multi-elevation map and Signed Distance Field?

Thank you for reading this long message!