clear_costmap_recovery.h

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* Author: Eitan Marder-Eppstein
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#ifndef CLEAR_COSTMAP_RECOVERY_H_
#define CLEAR_COSTMAP_RECOVERY_H_
#include <nav_core/recovery_behavior.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf/transform_listener.h>
#include <ros/ros.h>
#include <costmap_2d/costmap_layer.h>

namespace clear_costmap_recovery{
  class ClearCostmapRecovery : public nav_core::RecoveryBehavior {
    public:
      ClearCostmapRecovery();

      void initialize(std::string name, tf::TransformListener* tf, 
          costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap);

      void runBehavior();

    private:
      void clear(costmap_2d::Costmap2DROS* costmap);      
      void clearMap(boost::shared_ptr<costmap_2d::CostmapLayer> costmap, double pose_x, double pose_y);
      costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_;
      std::string name_;
      tf::TransformListener* tf_;
      bool initialized_;
      double reset_distance_;
      std::set<std::string> clearable_layers_; 
  };
};
#endif