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Last active November 15, 2017 02:37
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Converting between point coordinates and grid array indices
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index_convert.md

From /map coordinates to grid array indices:

gridx = int((pose.position.x - offsetX - (.5 * resolution)) / resolution)
gridy = int((pose.position.y - offsetY - (.5 * resolution)) / resolution)

From grid array indices to /map coordinates:

point.x = (array_index_x * resolution) + offsetX + (.5 * resolution)
point.y = (array_index_y * resolution) + offsetY + (.5 * resolution)
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