def METHOD_NAME(self, wx: float, wy: float):
    """
    Get the map coordinate XY using world coordinate XY.
    Args
    ----
        wx (float) [m]: world coordinate X to get map coordinate
        wy (float) [m]: world coordinate Y to get map coordinate
    Returns
    -------
        (None, None): if coordinates are invalid
        tuple of int: mx, my (if coordinates are valid)
        mx (int): map coordinate X
        my (int): map coordinate Y
    """
    if wx < self.origin_x or wy < self.origin_y:
        return (None, None)
    mx = int((wx - self.origin_x) // self.resolution)
    my = int((wy - self.origin_y) // self.resolution)
    if mx < self.size_x and my < self.size_y:
        return (mx, my)
    return (None, None)