1723_23102025

2025-10-23 17:23:41 +07:00
parent ad906963f7
commit 6d86ad65a2
1 changed files with 5 additions and 0 deletions
--- a/src/costmap_2d.cpp
+++ b/src/costmap_2d.cpp
@@ -62,5 +62,10 @@ namespace costmap_2d
        return false;
    }

+    void Costmap2D::worldToMapNoBounds(double wx, double wy, int& mx, int& my) const
+    {
+        mx = (int)((wx - origin_x_) / resolution_);
+        my = (int)((wy - origin_y_) / resolution_);
+    }

 }