怎么输入实时栅格地图

[chan-yuu]

    ReadData();

    if (!has_map_) {
        if (costmap_deque_.empty()) {
            return;
        }

        current_costmap_ptr_ = costmap_deque_.front();
        costmap_deque_.pop_front();

        const double map_resolution = static_cast<float>(current_costmap_ptr_->info.resolution);
        kinodynamic_astar_searcher_ptr_->Init(
                current_costmap_ptr_->info.origin.position.x,
                1.0 * current_costmap_ptr_->info.width * current_costmap_ptr_->info.resolution,
                current_costmap_ptr_->info.origin.position.y,
                1.0 * current_costmap_ptr_->info.height * current_costmap_ptr_->info.resolution,
                1.0, map_resolution
        );

        unsigned int map_w = std::floor(current_costmap_ptr_->info.width);
        unsigned int map_h = std::floor(current_costmap_ptr_->info.height);
        for (unsigned int w = 0; w < map_w; ++w) {
            for (unsigned int h = 0; h < map_h; ++h) {
                if (current_costmap_ptr_->data[h * current_costmap_ptr_->info.width + w]) {
                    kinodynamic_astar_searcher_ptr_->SetObstacle(w, h);
                }
            }
        }
        has_map_ = true;
    }
    costmap_deque_.clear();

请问这里为什么只处理一次地图呢，如果我现在的栅格地图是实时更新的话，需要怎么处理呢，希望您能解答一下