basic_costmap.h

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#ifndef NAV_CORE2_BASIC_COSTMAP_H
#define NAV_CORE2_BASIC_COSTMAP_H
 
#include <nav_core2/costmap.h>
#include <string>
#include <vector>
 
namespace nav_core2
{
class BasicCostmap : public nav_core2::Costmap
{
public:
  // Standard Costmap Interface
  mutex_t* getMutex() override { return &my_mutex_; }
 
  // NavGrid Interface
  void reset() override;
  void setValue(const unsigned int x, const unsigned int y, const unsigned char& value) override;
  unsigned char getValue(const unsigned int x, const unsigned int y) const override;
  void setInfo(const nav_grid::NavGridInfo& new_info) override
  {
    info_ = new_info;
    reset();
  }
 
  // Index Conversion
  unsigned int getIndex(const unsigned int x, const unsigned int y) const;
protected:
  mutex_t my_mutex_;
  std::vector<unsigned char> data_;
};
}  // namespace nav_core2
 
#endif  // NAV_CORE2_BASIC_COSTMAP_H