Dima/update origin #1137
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Dima/update origin #1137
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Hey,
I've noticed that the updateOrigin function would always create a local copy of the window... I've rewrote the function such that it can do the update inplace without the extra buffer. This gives some nice performance boost (more prominent for larger costmaps, in the supplied perf-flle ~30%).
Bonus: fixup the assignment operator.
Best,
Dima