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1720_28102025

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duongtd
2025-10-28 17:21:02 +07:00
parent 5d8981eab6
commit 7c1dcfd352
31 changed files with 663 additions and 445 deletions
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66
plugins/inflation_layer.cpp
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@@ -1,37 +1,37 @@
// #include <algorithm>
// #include <costmap_2d/inflation_layer.h>
// #include <costmap_2d/costmap_math.h>
// #include <costmap_2d/footprint.h>
// #include <boost/thread.hpp>
#include <algorithm>
#include <costmap_2d/inflation_layer.h>
#include <costmap_2d/costmap_math.h>
#include <costmap_2d/footprint.h>
#include <boost/thread.hpp>
// PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer)
// using costmap_2d::LETHAL_OBSTACLE;
// using costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
// using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
using costmap_2d::NO_INFORMATION;
// namespace costmap_2d
// {
namespace costmap_2d
{
// InflationLayer::InflationLayer()
// : resolution_(0)
// , inflation_radius_(0)
// , inscribed_radius_(0)
// , weight_(0)
// , inflate_unknown_(false)
// , cell_inflation_radius_(0)
// , cached_cell_inflation_radius_(0)
InflationLayer::InflationLayer()
: resolution_(0)
, inflation_radius_(0)
, inscribed_radius_(0)
, weight_(0)
, inflate_unknown_(false)
, cell_inflation_radius_(0)
, cached_cell_inflation_radius_(0)
// , dsrv_(NULL)
// , seen_(NULL)
// , cached_costs_(NULL)
// , cached_distances_(NULL)
// , last_min_x_(-std::numeric_limits<float>::max())
// , last_min_y_(-std::numeric_limits<float>::max())
// , last_max_x_(std::numeric_limits<float>::max())
// , last_max_y_(std::numeric_limits<float>::max())
// {
// inflation_access_ = new boost::recursive_mutex();
// }
, seen_(NULL)
, cached_costs_(NULL)
, cached_distances_(NULL)
, last_min_x_(-std::numeric_limits<float>::max())
, last_min_y_(-std::numeric_limits<float>::max())
, last_max_x_(std::numeric_limits<float>::max())
, last_max_y_(std::numeric_limits<float>::max())
{
inflation_access_ = new boost::recursive_mutex();
}
// void InflationLayer::onInitialize()
// {
@@ -344,4 +344,12 @@
// }
// }
// } // namespace costmap_2d
// Export factory function
static PluginPtr 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)
} // namespace costmap_2d