I have to rewrite the math, but it's simple. There should be a referential O for the world map (i.e. the origin of histogram_grid), O' for the origin of the dynamic window (this should be maintained by the library) and O'' for the robot (i.e. the geometric center of the robot).
I have to rewrite the math, but it's simple. There should be a referential O for the world map (i.e. the origin of
histogram_grid), O' for the origin of the dynamic window (this should be maintained by the library) and O'' for the robot (i.e. the geometric center of the robot).