stop_propagation.h

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/*
 * Copyright (c) 2014-2018, the neonavigation authors
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       contributors may be used to endorse or promote products derived from 
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef COSTMAP_CSPACE_COSTMAP_3D_LAYER_STOP_PROPAGATION_H
#define COSTMAP_CSPACE_COSTMAP_3D_LAYER_STOP_PROPAGATION_H

#include <memory>

#include <geometry_msgs/PolygonStamped.h>
#include <nav_msgs/OccupancyGrid.h>
#include <costmap_cspace_msgs/CSpace3D.h>
#include <costmap_cspace_msgs/CSpace3DUpdate.h>

#include <costmap_cspace/costmap_3d_layer/base.h>

namespace costmap_cspace
{
class Costmap3dLayerStopPropagation : public Costmap3dLayerBase
{
public:
  using Ptr = std::shared_ptr<Costmap3dLayerStopPropagation>;

public:
  void loadConfig(XmlRpc::XmlRpcValue config)
  {
  }
  void setMapMetaData(const costmap_cspace_msgs::MapMetaData3D& info)
  {
  }

protected:
  int getRangeMax() const
  {
    return 0;
  }
  bool updateChain(const bool output)
  {
    region_ = UpdatedRegion(
        0, 0, 0, map_->info.width, map_->info.height, map_->info.angle, ros::Time(0));
    for (auto& c : map_overlay_->data)
      c = -1;
    return false;
  }
  void updateCSpace(
      const nav_msgs::OccupancyGrid::ConstPtr& map,
      const UpdatedRegion& region)
  {
  }
};
}  // namespace costmap_cspace

#endif  // COSTMAP_CSPACE_COSTMAP_3D_LAYER_STOP_PROPAGATION_H