36 : layered_costmap_(NULL)
LayeredCostmap * layered_costmap_
void initialize(LayeredCostmap *parent, std::string name, tf::TransformListener *tf)
virtual void onInitialize()
This is called at the end of initialize(). Override to implement subclass-specific initialization...
tf::TransformListener * tf_
const std::vector< geometry_msgs::Point > & getFootprint()
Returns the latest footprint stored with setFootprint().
const std::vector< geometry_msgs::Point > & getFootprint() const
Convenience function for layered_costmap_->getFootprint().
Instantiates different layer plugins and aggregates them into one score.