1723_23102025

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_);
+    }
 
 }