Method World2Map

roborts_costmap/src/costmap_2d.cpp:184–194

}

bool Costmap2D::World2Map(double wx, double wy, unsigned int &mx, unsigned int &my) const {
  if (wx < origin_x_ || wy < origin_y_) {
    return false;
  }
  mx = (int) ((wx - origin_x_) / resolution_);
  my = (int) ((wy - origin_y_) / resolution_);
  if (mx < size_x_ && my < size_y_) {
    return true;
  }
  return false;
}

void Costmap2D::World2MapNoBoundary(double world_x,
                                    double world_y,