asmashine

question about ScanMatcher::score

5

in this function ,to caculate pfree,there are `double freeDelta=map.getDelta()*m_freeCellRatio;`and `pfree.x+=(*r-map.getDelta()*freeDelta)*cos(lp.theta+*angle); pfree.y+=(*r-map.getDelta()*freeDelta)*sin(lp.theta+*angle);`; obviously r - delta^2*sqrt(2) (freeDelta = sqrt(2)) i think r - delta*sqart(2) can show the range of pfree ,but...