From 6d86ad65a2d99e6901fe4dfd730680803e7e7480 Mon Sep 17 00:00:00 2001
From: duongtd <tdd149cm@gmail.com>
Date: Thu, 23 Oct 2025 17:23:41 +0700
Subject: [PATCH] 1723_23102025

---
 src/costmap_2d.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/costmap_2d.cpp b/src/costmap_2d.cpp
index 6afbc0b..ac646a3 100644
--- 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_);
+    }
 
 }
\ No newline at end of file