Hiep update

include/robot_costmap_2d/critical_layer.h

@@ -0,0 +1,19 @@
+#ifndef ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_
+#define ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_
+
+#include <robot_costmap_2d/static_layer.h>
+
+namespace robot_costmap_2d
+{
+class CriticalLayer : public StaticLayer
+{
+public:
+  CriticalLayer();
+  virtual ~CriticalLayer();
+private:
+  unsigned char interpretValue(unsigned char value) override;
+  void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) override;
+};
+}
+
+#endif // ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_