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} &lt;/span&gt;&lt;span style=&quot;color: rgb(123, 127, 139);&quot;&gt;# các ô chi phí xung quanh &quot;tường ảo&quot; sẽ được tăng lên giá trị cao hơn, tạo ra một vùng an toàn xung quanh các vật cản.&lt;/span&gt;&lt;/div&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;color: rgb(246, 246, 244); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;        &lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;-&lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt; {&lt;/span&gt;&lt;span style=&quot;color: rgb(151, 225, 241); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;name&lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;:&lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt; &lt;/span&gt;&lt;span style=&quot;color: rgb(231, 238, 152); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;obstacles&lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;,  &lt;/span&gt;&lt;span style=&quot;color: rgb(151, 225, 241); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;type&lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;:&lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt; &lt;/span&gt;&lt;span style=&quot;color: rgb(222, 228, 146); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;&quot;&lt;/span&gt;&lt;span style=&quot;color: rgb(231, 238, 152); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;costmap_2d::VoxelLayer&lt;/span&gt;&lt;span style=&quot;color: rgb(222, 228, 146); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;&quot;&lt;/span&gt;&lt;span style=&quot;color: rgb(246, 246, 244); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt; }         &lt;/span&gt;&lt;span style=&quot;color: rgb(123, 127, 139); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;#&amp;nbsp;&lt;/span&gt;&lt;font face=&quot;Droid Sans Mono, monospace, monospace&quot; color=&quot;#7b7f8b&quot;&gt;&lt;span style=&quot;font-size: 14px;&quot;&gt;Nhiệm vụ chính của lớp này là theo dõi và cập nhật thông tin chi phí của các voxel trong bản đồ để hỗ trợ việc lập kế hoạch đường đi và tránh vật cản trong môi trường.&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;&lt;div style=&quot;color: rgb(246, 246, 244); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;&lt;span style=&quot;color: #f6f6f4;&quot;&gt;        &lt;/span&gt;&lt;span style=&quot;color: #f286c4;&quot;&gt;-&lt;/span&gt;&lt;span style=&quot;color: #f6f6f4;&quot;&gt; {&lt;/span&gt;&lt;span style=&quot;color: #97e1f1;&quot;&gt;name&lt;/span&gt;&lt;span style=&quot;color: #f286c4;&quot;&gt;:&lt;/span&gt;&lt;span style=&quot;color: #f6f6f4;&quot;&gt; &lt;/span&gt;&lt;span style=&quot;color: #e7ee98;&quot;&gt;inflation&lt;/span&gt;&lt;span style=&quot;color: #f6f6f4;&quot;&gt;,  &lt;/span&gt;&lt;span style=&quot;color: #97e1f1;&quot;&gt;type&lt;/span&gt;&lt;span style=&quot;color: #f286c4;&quot;&gt;:&lt;/span&gt;&lt;span style=&quot;color: #f6f6f4;&quot;&gt; &lt;/span&gt;&lt;span style=&quot;color: #dee492;&quot;&gt;&quot;&lt;/span&gt;&lt;span style=&quot;color: #e7ee98;&quot;&gt;costmap_2d::InflationLayer&lt;/span&gt;&lt;span style=&quot;color: #dee492;&quot;&gt;&quot;&lt;/span&gt;&lt;span style=&quot;color: #f6f6f4;&quot;&gt; }     &lt;/span&gt;&lt;span style=&quot;color: #7b7f8b;&quot;&gt;# các ô chi phí xung quanh các &quot;vật cản&quot; sẽ được tăng lên giá trị cao hơn, tạo ra một vùng an toàn xung quanh các vật cản.&lt;/span&gt;&lt;/div&gt;&lt;div style=&quot;color: rgb(246, 246, 244); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot;&gt;&lt;span style=&quot;color: #7b7f8b;&quot;&gt;&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div style=&quot;&quot;&gt;&lt;span style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal; color: rgb(246, 246, 244);&quot;&gt;-&lt;span style=&quot;color: rgb(242, 134, 196);&quot;&gt;-&lt;/span&gt;&amp;nbsp;{&lt;span style=&quot;color: rgb(151, 225, 241);&quot;&gt;name&lt;/span&gt;&lt;span style=&quot;color: rgb(242, 134, 196);&quot;&gt;:&lt;/span&gt;&amp;nbsp;&lt;/span&gt;&lt;font style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot; color=&quot;#e7ee98&quot;&gt;master&lt;/font&gt;&lt;font style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot; color=&quot;#f6f6f4&quot;&gt;,&amp;nbsp;&lt;/font&gt;&lt;span style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal; color: rgb(151, 225, 241);&quot;&gt;type&lt;/span&gt;&lt;span style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal; color: rgb(242, 134, 196);&quot;&gt;:&lt;/span&gt;&lt;font style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot; color=&quot;#f6f6f4&quot;&gt;&amp;nbsp;&lt;/font&gt;&lt;span style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal; color: rgb(222, 228, 146);&quot;&gt;&quot;&lt;/span&gt;&lt;span style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal; color: rgb(231, 238, 152);&quot;&gt;costmap_2d::Costmap2D&lt;/span&gt;&lt;span style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal; color: rgb(222, 228, 146);&quot;&gt;&quot;&lt;/span&gt;&lt;font style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal;&quot; color=&quot;#f6f6f4&quot;&gt;&amp;nbsp;}&amp;nbsp;&lt;/font&gt;&lt;span style=&quot;font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; font-weight: normal; color: rgb(123, 127, 139);&quot;&gt;#&amp;nbsp;&lt;/span&gt;&lt;font face=&quot;Droid Sans Mono, monospace, monospace&quot; color=&quot;#7b7f8b&quot;&gt;&lt;span style=&quot;font-size: 14px;&quot;&gt;Lớp này lưu trữ thông tin chi phí của các ô (cell) trong bản đồ 2D. Mỗi ô có thể có một giá trị chi phí tương ứng, cho biết mức độ khó khăn hoặc vật cản trong môi trường.&lt;/span&gt;&lt;/font&gt;&lt;/div&gt;&lt;br&gt;&lt;/div&gt;" style="text;whiteSpace=wrap;html=1;fontColor=#FFFFCC;" parent="1" vertex="1">
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