layer.h

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#ifndef COSTMAP_2D_LAYER_H_
#define COSTMAP_2D_LAYER_H_
 
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/layered_costmap.h>
#include <string>
#include <tf2_ros/buffer.h>
 
namespace costmap_2d
{
class LayeredCostmap;
 
class Layer
{
public:
  Layer();
 
  void initialize(LayeredCostmap* parent, std::string name, tf2_ros::Buffer *tf);
 
  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
                            double* max_x, double* max_y) {}
 
  virtual void updateCosts(Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) {}
 
  virtual void deactivate() {}
 
  virtual void activate() {}
 
  virtual void reset() {}
 
  virtual ~Layer() {}
 
  bool isCurrent() const
  {
    return current_;
  }
 
  inline bool isEnabled() const noexcept
  {
    return enabled_;
  }
 
  virtual void matchSize() {}
 
  inline const std::string& getName() const noexcept
  {
    return name_;
  }
 
  const std::vector<geometry_msgs::Point>& getFootprint() const;
 
  virtual void onFootprintChanged() {}
 
protected:
  virtual void onInitialize() {}
 
  LayeredCostmap* layered_costmap_;
  bool current_;
  bool enabled_;
  std::string name_;
  tf2_ros::Buffer *tf_;
 
private:
  std::vector<geometry_msgs::Point> footprint_spec_;
};
 
}  // namespace costmap_2d
 
#endif  // COSTMAP_2D_LAYER_H_