limited_costmap_queue.cpp

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#include <costmap_queue/limited_costmap_queue.h>

namespace costmap_queue
{

LimitedCostmapQueue::LimitedCostmapQueue(nav_core2::Costmap& costmap, const int distance_limit) :
  CostmapQueue(costmap)
{
  max_distance_ = distance_limit;
  reset();
}

int LimitedCostmapQueue::getMaxDistance() const
{
  return max_distance_;
}

bool LimitedCostmapQueue::validCellToQueue(const CellData& cell)
{
  return cell.distance_ <= max_distance_;
}

}  // namespace costmap_queue