I might find a wrong sentence in map_grid.cpp

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In base_local_planner/src/map_grid.cpp, line 150, here is a sentence to find "steps" which is used to smooth(I think) the global_plan we input, which is like this:

int steps = ((sqrt(sqdist) - sqrt(min_sq_resolution)) / resolution) - 1;

I think this sentence is wrong, it should be like this:

int steps = ((sqrt(sqdist) - sqrt(min_sq_resolution)) / resolution) + 1;

cause the "steps" tells us how many nodes we should add between two origin nodes in global_plan_input, and it should be positive. The old sentence may lead to less nodes that we add than we should, and in some extreme cases, like the sqrt(sqdist) equals 3 times of the resolution, it might carsh in the next two lines:

double deltax = (loop_x - last_x) / steps;
double deltay = (loop_y - last_y) / steps;

because the steps equals 0.