A Submap is nothing more than a regularmap file that you can call from other map files using the Submap transform.
一个Submap就是指一个常规的映射文件，您可以使用submap转换从其他映射文件中调用。
2
A Submap is nothing more than a root mapping in a regularmap file which can be referenced from any other map file making it ideal for reuse.
Submap不过是常规映射文件中的根映射，可以从任何其他映射文件进行引用，因此非常适合进行重用。
3
We prove that when the homotopy map is a regularmap, the K-K-T point obtained from this homotopy method must be a local optimal solution by choosing proper homotopy equation.