why worldToMapNoBounds? what is the use of min_x_, min_y_, max_x_, max_y_

[serenadeRay]

i used this layer recently, when i read the codes, i found that touch(mx, my, &min_x_, &min_y_, &max_x_, &max_y_); appears several times, but i didn't figure out what it is meant for. so as for the worldToMapNoBounds, didn't we consider the boudary of the map?

[DLu]

Just to clarify, which layer are you talking about? Also, what familiarity do you have with the layered costmap algorithm?

[serenadeRay]

@DLu
i am talking about range sensor layer
when we combined this with amcl, it stucked into the loop sometimes

for (unsigned int x = bx0; x <= (unsigned int)bx1; x++)
{
for (unsigned int y = by0; y <= (unsigned int)by1; y++)

after debuging we found that bx1 and by1 may be less than 0, so i was wondering why not put a boundary check here, so i do the same operation to the bx1 and by1 as to the bx0 and by0, like this

bx0 = std::max(0, bx0);
by0 = std::max(0, by0);
bx1 = std::max(0, bx1);
by1 = std::max(0, by1);

things got better.

while there is a function called worldToMap may be more reasonable here , so i just want to know the original ideas about this point.

as for the touch things, i did not get the point truth to be told...what is it meant for?