layer.h
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00035  * Author: David V. Lu!!
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00037 #ifndef COSTMAP_2D_LAYER_H_
00038 #define COSTMAP_2D_LAYER_H_
00039 
00040 #include <costmap_2d/costmap_2d.h>
00041 #include <costmap_2d/layered_costmap.h>
00042 #include <string>
00043 #include <tf/tf.h>
00044 #include <tf/transform_listener.h>
00045 
00046 namespace costmap_2d
00047 {
00048 class LayeredCostmap;
00049 
00050 class Layer
00051 {
00052 public:
00053   Layer();
00054 
00055   void initialize(LayeredCostmap* parent, std::string name, tf::TransformListener *tf);
00056 
00065   virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
00066                             double* max_x, double* max_y) {}
00067 
00072   virtual void updateCosts(Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) {}
00073 
00075   virtual void deactivate() {}
00076 
00078   virtual void activate() {}
00079 
00080   virtual void reset() {}
00081 
00082   virtual ~Layer() {}
00083 
00094   bool isCurrent() const
00095   {
00096     return current_;
00097   }
00098 
00100   virtual void matchSize() {}
00101 
00102   std::string getName() const
00103   {
00104     return name_;
00105   }
00106 
00108   const std::vector<geometry_msgs::Point>& getFootprint() const;
00109 
00113   virtual void onFootprintChanged() {}
00114 
00115 protected:
00120   virtual void onInitialize() {}
00121 
00122   LayeredCostmap* layered_costmap_;
00123   bool current_;
00124   bool enabled_;  
00125   std::string name_;
00126   tf::TransformListener* tf_;
00127 
00128 private:
00129   std::vector<geometry_msgs::Point> footprint_spec_;
00130 };
00131 
00132 }  // namespace costmap_2d
00133 
00134 #endif  // COSTMAP_2D_LAYER_H_


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:21