update file voxel_layer

plugins/critical_layer.cpp

@@ -36,12 +36,12 @@ void CriticalLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, i
 }
 
 // Export factory function
-static PluginStaticLayerPtr create_critical_plugin() {
+static PluginLayerPtr create_critical_plugin() {
     return std::make_shared<CriticalLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_critical_plugin, create_plugin_static_layer)
+BOOST_DLL_ALIAS(create_critical_plugin, create_plugin)
 
 
 }

plugins/directional_layer.cpp

@@ -429,10 +429,10 @@ namespace costmap_2d
   }
 
   // Export factory function
-  static PluginStaticLayerPtr create_directional_plugin() {
+  static PluginLayerPtr create_directional_plugin() {
       return std::make_shared<DirectionalLayer>();
   }
 
   // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-  BOOST_DLL_ALIAS(create_directional_plugin, create_plugin_static_layer)
+  BOOST_DLL_ALIAS(create_directional_plugin, create_plugin)
 }

plugins/inflation_layer.cpp

@@ -47,7 +47,7 @@ void InflationLayer::onInitialize()
     getParams();
   }
 
-  matchSize();
+  InflationLayer::matchSize();
 }
 
 bool InflationLayer::getParams()
@@ -350,12 +350,19 @@ void InflationLayer::setInflationParameters(double inflation_radius, double cost
   }
 }
 
+void InflationLayer::handleImpl(const void* data,
+                              const std::type_info& info,
+                              const std::string& source)
+{
+  printf("This function is not available!\n");
+}
+
 // Export factory function
 static PluginLayerPtr create_inflation_plugin() {
     return std::make_shared<InflationLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_inflation_plugin, create_plugin_layer)
+BOOST_DLL_ALIAS(create_inflation_plugin, create_plugin)
 
 }  // namespace costmap_2d

plugins/obstacle_layer.cpp

@@ -19,7 +19,6 @@ namespace costmap_2d
 void ObstacleLayer::onInitialize()
 {
   rolling_window_ = layered_costmap_->isRolling();
-  
 
   ObstacleLayer::matchSize();
   current_ = true;
@@ -103,7 +102,7 @@ bool ObstacleLayer::getParams()
 
       printf(
           "Created an observation buffer for topic %s, global frame: %s, "
-          "expected update rate: %.2f, observation persistence: %.2f",
+          "expected update rate: %.2f, observation persistence: %.2f\n",
           topic.c_str(), global_frame_.c_str(), expected_update_rate, observation_keep_time);
 
     } 
@@ -517,7 +516,7 @@ void ObstacleLayer::reset()
 }
 
 // Export factory function
-static PluginCostmapLayerPtr create_obstacle_plugin() {
+static PluginLayerPtr create_obstacle_plugin() {
     return std::make_shared<ObstacleLayer>();
 }
 

plugins/preferred_layer.cpp

@@ -25,11 +25,11 @@ unsigned char PreferredLayer::interpretValue(unsigned char value)
 }
 
 // Export factory function
-static PluginStaticLayerPtr create_preferred_plugin() {
+static PluginLayerPtr create_preferred_plugin() {
     return std::make_shared<PreferredLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_preferred_plugin, create_plugin_static_layer)
+BOOST_DLL_ALIAS(create_preferred_plugin, create_plugin)
 
 }

plugins/static_layer.cpp

@@ -325,7 +325,7 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
 }
 
 // Export factory function
-static PluginCostmapLayerPtr create_static_plugin() {
+static PluginLayerPtr create_static_plugin() {
     return std::make_shared<StaticLayer>();
 }
 

plugins/unpreferred_layer.cpp

@@ -23,11 +23,11 @@ unsigned char UnPreferredLayer::interpretValue(unsigned char value)
 }
 
 // Export factory function
-static PluginStaticLayerPtr create_unpreferred_plugin() {
+static PluginLayerPtr create_unpreferred_plugin() {
     return std::make_shared<UnPreferredLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_unpreferred_plugin, create_plugin_static_layer)
+BOOST_DLL_ALIAS(create_unpreferred_plugin, create_plugin)
 
 }

plugins/voxel_layer.cpp

@@ -445,11 +445,11 @@ void VoxelLayer::matchSize()
 // }
 
 // Export factory function
-static PluginObstacleLayerPtr create_voxel_plugin() {
+static PluginLayerPtr create_voxel_plugin() {
     return std::make_shared<VoxelLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_voxel_plugin, create_obstacle_plugin)
+BOOST_DLL_ALIAS(create_voxel_plugin, create_plugin)
 
 }  // namespace costmap_2d