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SetBasicLayersFilter.cpp
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/*
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* SetBasicLayersFilters.cpp
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*
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* Created on: Aug 16, 2017
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* Author: Peter Fankhauser
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* Institute: ETH Zurich, ANYbotics
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*/
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#include "../include/grid_map_filters/SetBasicLayersFilter.hpp"
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#include <
grid_map_core/GridMap.hpp
>
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#include <
pluginlib/class_list_macros.h
>
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using namespace
filters
;
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namespace
grid_map
{
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template
<
typename
T>
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SetBasicLayersFilter<T>::SetBasicLayersFilter
()
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{
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}
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template
<
typename
T>
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SetBasicLayersFilter<T>::~SetBasicLayersFilter
()
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{
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}
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template
<
typename
T>
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bool
SetBasicLayersFilter<T>::configure
()
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{
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if
(!
FilterBase<T>::getParam
(std::string(
"layers"
), layers_)) {
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ROS_ERROR
(
"SetBasicLayersFilters did not find parameter 'layers'."
);
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return
false
;
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}
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return
true
;
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}
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template
<
typename
T>
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bool
SetBasicLayersFilter<T>::update
(
const
T& mapIn, T& mapOut)
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{
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mapOut = mapIn;
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std::vector<std::string> layersChecked;
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for
(
const
auto
& layer : layers_) {
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if
(!mapOut.exists(layer)) {
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ROS_WARN
(
"Layer `%s` does not exist and is not set as basic layer."
, layer.c_str());
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continue
;
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}
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layersChecked.push_back(layer);
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}
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mapOut.setBasicLayers(layersChecked);
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return
true
;
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}
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}
/* namespace */
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PLUGINLIB_EXPORT_CLASS
(
grid_map::SetBasicLayersFilter<grid_map::GridMap>
,
filters::FilterBase<grid_map::GridMap>
)
filters::FilterBase
ROS_WARN
#define ROS_WARN(...)
GridMap.hpp
grid_map
grid_map::SetBasicLayersFilter
Definition:
SetBasicLayersFilter.hpp:22
class_list_macros.h
filters
PLUGINLIB_EXPORT_CLASS
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
ROS_ERROR
#define ROS_ERROR(...)
grid_map_filters
Author(s): Péter Fankhauser
, Martin Wermelinger
autogenerated on Tue Jun 1 2021 02:13:38