insertRay deteriorate the true map

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Mehmet Korkmaz
Mehmet Korkmaz 2020-12-23
Hi All,
When I analyze the example "Dynamic Replanning on an Indoor Map", it's seen that the originally occupied areas change to free space after insertRay function. Namely, this clearly ruin the original map. So is there a solution for this?
And how to get exact locations that insertRay functions placed after given range/angles couples.

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