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If the lower right corner of map is at coordinate (-10.0, -10.0), and pose is in the map coordinate system, then your math looks OK. Don't forget to truncate i, j to integer.

If the lower ~~right~~ left corner of map is at coordinate (-10.0, -10.0), and pose is in the map coordinate system, then your math looks OK. Don't forget to truncate i, j to integer.

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