basic_costmap.cpp

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#include <nav_core2/basic_costmap.h>

namespace nav_core2
{

void BasicCostmap::reset()
{
  data_.assign(info_.width * info_.height, this->default_value_);
}

unsigned int BasicCostmap::getIndex(const unsigned int x, const unsigned int y) const
{
  return y * info_.width + x;
}

unsigned char BasicCostmap::getValue(const unsigned int x, const unsigned int y) const
{
  return data_[getIndex(x, y)];
}

void BasicCostmap::setValue(const unsigned int x, const unsigned int y, const unsigned char& value)
{
  data_[getIndex(x, y)] = value;
}

}  // namespace nav_core2