costmap_adapter.h
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34 
35 #ifndef NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H
36 #define NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H
37 
38 #include <nav_core2/common.h>
39 #include <nav_core2/costmap.h>
41 #include <string>
42 
44 {
46 
48 {
49 public:
53  virtual ~CostmapAdapter();
54 
60  void initialize(costmap_2d::Costmap2DROS* costmap_ros, bool needs_destruction = false);
61 
62  // Standard Costmap Interface
63  void initialize(const ros::NodeHandle& parent, const std::string& name, TFListenerPtr tf) override;
65 
66  // NavGrid Interface
67  void reset() override;
68  void update() override;
69  void setValue(const unsigned int x, const unsigned int y, const unsigned char& value) override;
70  unsigned char getValue(const unsigned int x, const unsigned int y) const override;
71  void setInfo(const nav_grid::NavGridInfo& new_info) override;
72  void updateInfo(const nav_grid::NavGridInfo& new_info) override;
73 
74  // Get Costmap Pointer for Backwards Compatibility
76 
77 protected:
81 };
82 
83 } // namespace nav_core_adapter
84 
85 #endif // NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H
nav_grid::NavGridInfo infoFromCostmap(costmap_2d::Costmap2DROS *costmap_ros)
void initialize(costmap_2d::Costmap2DROS *costmap_ros, bool needs_destruction=false)
Initialize from an existing Costmap2DROS object.
TFSIMD_FORCE_INLINE const tfScalar & y() const
virtual ~CostmapAdapter()
Deconstructor for possibly freeing the costmap_ros_ object.
costmap_2d::Costmap2D * costmap_
boost::recursive_mutex mutex_t
TFSIMD_FORCE_INLINE const tfScalar & x() const
void setInfo(const nav_grid::NavGridInfo &new_info) override
unsigned char getValue(const unsigned int x, const unsigned int y) const override
void updateInfo(const nav_grid::NavGridInfo &new_info) override
costmap_2d::Costmap2DROS * costmap_ros_
std::shared_ptr< tf::TransformListener > TFListenerPtr
costmap_2d::Costmap2DROS * getCostmap2DROS() const
void setValue(const unsigned int x, const unsigned int y, const unsigned char &value) override
nav_core2::Costmap::mutex_t * getMutex() override


nav_core_adapter
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autogenerated on Wed Jun 26 2019 20:06:25