.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_components_costmap_switch_cp_costmap_switch.hpp:

Program Listing for File cp_costmap_switch.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_components_costmap_switch_cp_costmap_switch.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/costmap_switch/cp_costmap_switch.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   #pragma once
   
   #include <array>
   #include <functional>
   #include <map>
   #include <memory>
   #include <string>
   
   #include <rclcpp/rclcpp.hpp>
   
   #include <nav2z_client/nav2z_client.hpp>
   #include <smacc2/component.hpp>
   
   // #include <dynamic_reconfigure/DoubleParameter.h>
   // #include <dynamic_reconfigure/Reconfigure.h>
   // #include <dynamic_reconfigure/Config.h>
   
   namespace cl_nav2z
   {
   class CostmapProxy;
   
   class CostmapSwitch : public smacc2::ISmaccComponent
   {
   public:
     enum class StandardLayers
     {
       GLOBAL_OBSTACLES_LAYER = 0,
       LOCAL_OBSTACLES_LAYER = 1,
       GLOBAL_INFLATED_LAYER = 2,
       LOCAL_INFLATED_LAYER = 3
     };
   
     static std::array<std::string, 4> layerNames;
   
     CostmapSwitch();
   
     void onInitialize() override;
   
     static std::string getStandardCostmapName(StandardLayers layertype);
   
     bool exists(std::string layerName);
   
     void enable(std::string layerName);
   
     void enable(StandardLayers layerType);
   
     void disable(std::string layerName);
   
     void disable(StandardLayers layerType);
   
     void registerProxyFromDynamicReconfigureServer(
       std::string costmapName, std::string enablePropertyName = "enabled");
   
   private:
     std::map<std::string, std::shared_ptr<CostmapProxy>> costmapProxies;
     cl_nav2z::ClNav2Z * nav2zClient_;
   };
   //-------------------------------------------------------------------------
   class CostmapProxy
   {
   public:
     CostmapProxy(
       std::string costmap_name, std::string enablePropertyName, rclcpp::Node::SharedPtr nh);
   
     void setCostmapEnabled(bool value);
   
   private:
     std::string costmapName_;
     rclcpp::Node::SharedPtr nh_;
   
     inline rclcpp::Node::SharedPtr getNode() { return nh_; }
   };
   }  // namespace cl_nav2z