layer.cpp
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29 
30 #include "costmap_2d/layer.h"
31 
32 namespace costmap_2d
33 {
34 
36  : layered_costmap_(NULL)
37  , current_(false)
38  , enabled_(false)
39  , name_()
40  , tf_(NULL)
41 {}
42 
43 void Layer::initialize(LayeredCostmap* parent, std::string name, tf2_ros::Buffer *tf)
44 {
45  layered_costmap_ = parent;
46  name_ = name;
47  tf_ = tf;
48  onInitialize();
49 }
50 
51 const std::vector<geometry_msgs::Point>& Layer::getFootprint() const
52 {
54 }
55 
56 } // end namespace costmap_2d
LayeredCostmap * layered_costmap_
Definition: layer.h:121
tf2_ros::Buffer * tf_
void initialize(LayeredCostmap *parent, std::string name, tf2_ros::Buffer *tf)
Definition: layer.cpp:43
virtual void onInitialize()
This is called at the end of initialize(). Override to implement subclass-specific initialization...
Definition: layer.h:119
std::string name_
Definition: layer.h:124
const std::vector< geometry_msgs::Point > & getFootprint() const
Convenience function for layered_costmap_->getFootprint().
Definition: layer.cpp:51
tf2_ros::Buffer * tf_
Definition: layer.h:125
const std::vector< geometry_msgs::Point > & getFootprint()
Returns the latest footprint stored with setFootprint().
Instantiates different layer plugins and aggregates them into one score.


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Wed Jun 22 2022 02:07:03