layer.h

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#ifndef COSTMAP_2D_LAYER_H_
#define COSTMAP_2D_LAYER_H_

#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/layered_costmap.h>
#include <string>
#include <tf/tf.h>
#include <tf/transform_listener.h>

namespace costmap_2d
{
class LayeredCostmap;

class Layer
{
public:
  Layer();

  void initialize(LayeredCostmap* parent, std::string name, tf::TransformListener *tf);

  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
                            double* max_x, double* max_y) {}

  virtual void updateCosts(Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) {}

  virtual void deactivate() {}

  virtual void activate() {}

  virtual void reset() {}

  virtual ~Layer() {}

  bool isCurrent() const
  {
    return current_;
  }

  virtual void matchSize() {}

  std::string getName() const
  {
    return name_;
  }

  const std::vector<geometry_msgs::Point>& getFootprint() const;

  virtual void onFootprintChanged() {}

protected:
  virtual void onInitialize() {}

  LayeredCostmap* layered_costmap_;
  bool current_;
  bool enabled_;  
  std::string name_;
  tf::TransformListener* tf_;

private:
  std::vector<geometry_msgs::Point> footprint_spec_;
};

}  // namespace costmap_2d

#endif  // COSTMAP_2D_LAYER_H_