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