Question to function GlobalPlanner::worldToMap()

[vacuum136]

Hi,

I am a bit of confused when I look the following lines of code. In default, old_navfn_behavior_ is false and accordingly convert_offset_ will be set to 0.5. In this case, if the origin of costmap is taken, it would be converted to a grid index which is negative, but we know that all grid indices should be positive. So is there something wrong in the formula or in my understanding?

navigation/global_planner/src/planner_core.cpp

Line 204 in 2b807bd

mx = (wx - origin_x) / resolution - convert_offset_;