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Hiep update

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HiepLM
2025-12-30 10:24:18 +07:00
parent 4246453ae6
commit 72b2f3c639
49 changed files with 476 additions and 476 deletions
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22
plugins/inflation_layer.cpp
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@@ -36,18 +36,18 @@
* David V. Lu!!
*********************************************************************/
#include <algorithm>
#include <costmap_2d/inflation_layer.h>
#include <costmap_2d/costmap_math.h>
#include <costmap_2d/footprint.h>
#include <robot_costmap_2d/inflation_layer.h>
#include <robot_costmap_2d/costmap_math.h>
#include <robot_costmap_2d/footprint.h>
#include <boost/thread.hpp>
#include <boost/dll/alias.hpp>
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
using costmap_2d::NO_INFORMATION;
using robot_costmap_2d::LETHAL_OBSTACLE;
using robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
using robot_costmap_2d::NO_INFORMATION;
namespace costmap_2d
namespace robot_costmap_2d
{
InflationLayer::InflationLayer()
@@ -91,7 +91,7 @@ void InflationLayer::onInitialize()
bool InflationLayer::getParams(const std::string& config_file_name, robot::NodeHandle &nh)
{
try {
std::string folder = COSTMAP_2D_DIR;
std::string folder = ROBOT_COSTMAP_2D_DIR;
std::string path_source = getSourceFile(folder,config_file_name);
YAML::Node config = YAML::LoadFile(path_source);
@@ -132,7 +132,7 @@ bool InflationLayer::getParams(const std::string& config_file_name, robot::NodeH
void InflationLayer::matchSize()
{
boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
costmap_2d::Costmap2D* costmap = layered_costmap_->getCostmap();
robot_costmap_2d::Costmap2D* costmap = layered_costmap_->getCostmap();
resolution_ = costmap->getResolution();
cell_inflation_radius_ = cellDistance(inflation_radius_);
computeCaches();
@@ -191,7 +191,7 @@ void InflationLayer::onFootprintChanged()
layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_);
}
void InflationLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
void InflationLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
if (cell_inflation_radius_ == 0)
@@ -416,4 +416,4 @@ static boost::shared_ptr<Layer> create_inflation_plugin() {
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_inflation_plugin, InflationLayer)
} // namespace costmap_2d
} // namespace robot_costmap_2d