traversability_generator3d: A C++ library for 3D traversability estimation from MLS maps

traversability_generator3d is a C++ library that converts Multi-Level Surface (MLS) (Triebel et al., 2006) maps into 3D traversability maps.Unlike traditional 2D elevationbased maps, MLS preserves multiple surface hypotheses per cell, making it well-suited for environments with rubble, vegetation, bridges, or overlapping terrain layers.The library builds on the MLS representation to provide robot-specific traversability analysis, where each grid cell is enriched with slope, step height, plane fitting results, allowed motion orientations, and optional soil semantics.The result is a TraversabilityMap3d suitable for autonomous navigation.It is designed for real-world robotic applications including construction robotics, disaster response, search-and-rescue, and planetary exploration, where terrain is uneven, uncertain, and multi-layered.