limited_costmap_queue.h

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#ifndef COSTMAP_QUEUE_LIMITED_COSTMAP_QUEUE_H
#define COSTMAP_QUEUE_LIMITED_COSTMAP_QUEUE_H

#include <costmap_queue/costmap_queue.h>

namespace costmap_queue
{

class LimitedCostmapQueue : public CostmapQueue
{
public:
  LimitedCostmapQueue(nav_core2::Costmap& costmap, const int cell_distance_limit);
  bool validCellToQueue(const CellData& cell) override;
  int getMaxDistance() const override;
protected:
  int max_distance_;
};
}  // namespace costmap_queue

#endif  // COSTMAP_QUEUE_LIMITED_COSTMAP_QUEUE_H