SetBasicLayersFilter.cpp

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/*
 * SetBasicLayersFilters.cpp
 *
 *  Created on: Aug 16, 2017
 *      Author: Peter Fankhauser
 *   Institute: ETH Zurich, Robotic Systems Lab
 */

#include "../include/grid_map_filters/SetBasicLayersFilter.hpp"

#include <grid_map_core/GridMap.hpp>
#include <pluginlib/class_list_macros.h>

using namespace filters;

namespace grid_map {

template<typename T>
SetBasicLayersFilter<T>::SetBasicLayersFilter()
{
}

template<typename T>
SetBasicLayersFilter<T>::~SetBasicLayersFilter()
{
}

template<typename T>
bool SetBasicLayersFilter<T>::configure()
{
  if (!FilterBase<T>::getParam(std::string("layers"), layers_)) {
    ROS_ERROR("SetBasicLayersFilters did not find parameter 'layers'.");
    return false;
  }

  return true;
}

template<typename T>
bool SetBasicLayersFilter<T>::update(const T& mapIn, T& mapOut)
{
  mapOut = mapIn;
  std::vector<std::string> layersChecked;

  for (const auto& layer : layers_) {
    if (!mapOut.exists(layer)) {
      ROS_WARN("Layer `%s` does not exist and is not set as basic layer.", layer.c_str());
      continue;
    }
    layersChecked.push_back(layer);
  }

  mapOut.setBasicLayers(layersChecked);
  return true;
}

} /* namespace */

PLUGINLIB_EXPORT_CLASS(grid_map::SetBasicLayersFilter<grid_map::GridMap>, filters::FilterBase<grid_map::GridMap>)