easy_costmap.h

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#ifndef GLOBAL_PLANNER_TESTS_EASY_COSTMAP_H
#define GLOBAL_PLANNER_TESTS_EASY_COSTMAP_H
 
#include <nav_core2/basic_costmap.h>
#include <nav_msgs/OccupancyGrid.h>
#include <string>
 
namespace global_planner_tests
{
class EasyCostmap : public nav_core2::BasicCostmap
{
public:
  explicit EasyCostmap(const std::string& filename, const double resolution = 0.1, const bool origin_at_center = false);
 
  EasyCostmap() { reset(); }
 
  // NavGrid Interface
  void reset() override;
 
  // Main Image Loading Logic
  void loadMapFromFile(const std::string& filename, const double resolution = 0.1, const bool origin_at_center = false);
 
protected:
  nav_msgs::OccupancyGrid original_grid_;
};  // class EasyCostmap
}  // namespace global_planner_tests
 
#endif  // GLOBAL_PLANNER_TESTS_EASY_COSTMAP_H