Costmap2DROS::getRobotFootprint() vs Costmap2DROS::getOrientedFootprint()

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As far as I remember, getRobotFootprint() returns the originally-defined footprint i.e. with a z-axis rotation of 0 in the base_link frame. But getOrientedFootprint() transforms the original footprint using the base_link's current rotation within the map frame. The oriented footprint is useful if you want to determine exactly which costmap cells the robot is on top of, or to calculate the minimum distance from the footprint boundary to some obstacle.