Mohammad Khayatian
Mohammad Khayatian
The problem with current implementation is that if the start and end points are outside of the gridmap size and the (start,end) line doesn't intersect with the grid_map, it will...
Also, a better implementation for `getIndexLimitedToMapRange()` is finding the intersection between two lines (start,end) and (gridmapEdge[i], gridmapEdge[i+1]) instead of a while loop.