1726_24102025

plugins/unpreferred_layer.cpp

@@ -0,0 +1,27 @@
+#include <costmap_2d/unpreferred_layer.h>
+#include <pluginlib/class_list_macros.hpp>
+
+PLUGINLIB_EXPORT_CLASS(costmap_2d::UnPreferredLayer, costmap_2d::Layer)
+
+using costmap_2d::NO_INFORMATION;
+using costmap_2d::LETHAL_OBSTACLE;
+using costmap_2d::PREFERRED_SPACE;
+
+namespace costmap_2d
+{
+
+UnPreferredLayer::UnPreferredLayer(){}
+UnPreferredLayer::~UnPreferredLayer(){}
+
+unsigned char UnPreferredLayer::interpretValue(unsigned char value) 
+{
+  // check if the static value is above the unknown or lethal thresholds
+  if(value == 0) return NO_INFORMATION;
+  else if (value >= *this->threshold_)
+    return UNPREFERRED_SPACE;
+
+  double scale = (double) value / *this->threshold_;
+  return scale * LETHAL_OBSTACLE;
+}
+
+}