layer.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * 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
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       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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#include "costmap_2d/layer.h"

namespace costmap_2d
{

Layer::Layer()
  : layered_costmap_(NULL)
  , current_(false)
  , enabled_(false)
  , name_()
  , tf_(NULL)
{}

void Layer::initialize(LayeredCostmap* parent, std::string name, tf2_ros::Buffer *tf)
{
  layered_costmap_ = parent;
  name_ = name;
  tf_ = tf;
  onInitialize();
}

const std::vector<geometry_msgs::Point>& Layer::getFootprint() const
{
  return layered_costmap_->getFootprint();
}

}  // end namespace costmap_2d