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00009 #include "../include/grid_map_filters/SetBasicLayersFilter.hpp"
00010
00011 #include <grid_map_core/GridMap.hpp>
00012 #include <pluginlib/class_list_macros.h>
00013
00014 using namespace filters;
00015
00016 namespace grid_map {
00017
00018 template<typename T>
00019 SetBasicLayersFilter<T>::SetBasicLayersFilter()
00020 {
00021 }
00022
00023 template<typename T>
00024 SetBasicLayersFilter<T>::~SetBasicLayersFilter()
00025 {
00026 }
00027
00028 template<typename T>
00029 bool SetBasicLayersFilter<T>::configure()
00030 {
00031 if (!FilterBase<T>::getParam(std::string("layers"), layers_)) {
00032 ROS_ERROR("SetBasicLayersFilters did not find parameter 'layers'.");
00033 return false;
00034 }
00035
00036 return true;
00037 }
00038
00039 template<typename T>
00040 bool SetBasicLayersFilter<T>::update(const T& mapIn, T& mapOut)
00041 {
00042 mapOut = mapIn;
00043 std::vector<std::string> layersChecked;
00044
00045 for (const auto& layer : layers_) {
00046 if (!mapOut.exists(layer)) {
00047 ROS_WARN("Layer `%s` does not exist and is not set as basic layer.", layer.c_str());
00048 continue;
00049 }
00050 layersChecked.push_back(layer);
00051 }
00052
00053 mapOut.setBasicLayers(layersChecked);
00054 return true;
00055 }
00056
00057 }
00058
00059 PLUGINLIB_EXPORT_CLASS(grid_map::SetBasicLayersFilter<grid_map::GridMap>, filters::FilterBase<grid_map::GridMap>)