1726_24102025

src/layer.cpp

@@ -0,0 +1,27 @@
+#include "costmap_2d/layer.h"
+
+namespace costmap_2d
+{
+
+Layer::Layer()
+  : layered_costmap_(NULL)
+  , current_(false)
+  , enabled_(false)
+  , name_()
+  , tf_(NULL)
+{}
+
+void Layer::initialize(LayeredCostmap* parent, std::string name, std::shared_ptr<tf2::BufferCore> *tf)
+{
+  layered_costmap_ = parent;
+  name_ = name;
+  tf_ = tf;
+  onInitialize();
+}
+
+const std::vector<Point>& Layer::getFootprint() const
+{
+  return layered_costmap_->getFootprint();
+}
+
+}  // end namespace costmap_2d