basic_costmap.h
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34 
35 #ifndef NAV_CORE2_BASIC_COSTMAP_H
36 #define NAV_CORE2_BASIC_COSTMAP_H
37 
38 #include <nav_core2/costmap.h>
39 #include <string>
40 #include <vector>
41 
42 namespace nav_core2
43 {
45 {
46 public:
47  // Standard Costmap Interface
48  mutex_t* getMutex() override { return &my_mutex_; }
49 
50  // NavGrid Interface
51  void reset() override;
52  void setValue(const unsigned int x, const unsigned int y, const unsigned char& value) override;
53  unsigned char getValue(const unsigned int x, const unsigned int y) const override;
54  void setInfo(const nav_grid::NavGridInfo& new_info) override
55  {
56  info_ = new_info;
57  reset();
58  }
59 
60  // Index Conversion
61  unsigned int getIndex(const unsigned int x, const unsigned int y) const;
62 protected:
64  std::vector<unsigned char> data_;
65 };
66 } // namespace nav_core2
67 
68 #endif // NAV_CORE2_BASIC_COSTMAP_H
unsigned int getIndex(const unsigned int x, const unsigned int y) const
unsigned char getValue(const unsigned int x, const unsigned int y) const override
TFSIMD_FORCE_INLINE const tfScalar & y() const
void setValue(const unsigned int x, const unsigned int y, const unsigned char &value) override
boost::recursive_mutex mutex_t
Definition: costmap.h:103
TFSIMD_FORCE_INLINE const tfScalar & x() const
std::vector< unsigned char > data_
Definition: basic_costmap.h:64
mutex_t * getMutex() override
Accessor for boost mutex.
Definition: basic_costmap.h:48
void setInfo(const nav_grid::NavGridInfo &new_info) override
Definition: basic_costmap.h:54


nav_core2
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autogenerated on Wed Jun 26 2019 20:06:06