message: don't do clearing without carving
diff: @@ -143,19 +143,20 @@ RayCaster::RayCaster(const Point& origin, const Point& point_G,
  const bool cast_from_origin) {
  const Ray unit_ray = (point_G - origin).normalized();
  - Point ray_end;
  + Point ray_start, ray_end;
  if (is_clearing_ray) {
  FloatingPoint ray_length = (point_G - origin).norm();
  ray_length = std::min(std::max(ray_length - truncation_distance,
  static_cast<FloatingPoint>(0.0)),
  max_ray_length_m);
  ray_end = origin + unit_ray * ray_length;
  + ray_start = voxel_carving_enabled ? origin : ray_end;
  } else {
  ray_end = point_G + unit_ray * truncation_distance;
  - }
  - const Point ray_start = voxel_carving_enabled
  + ray_start = voxel_carving_enabled
  ? origin
  : (point_G - unit_ray * truncation_distance);
  + }
  const Point start_scaled = ray_start * voxel_size_inv;
  const Point end_scaled = ray_end * voxel_size_inv;
  