add function getTypeLayer

2025-12-31 10:11:12 +07:00
parent 6c682712fe
commit ae469e3271
11 changed files with 60 additions and 10 deletions
--- a/include/robot_costmap_2d/directional_layer.h
+++ b/include/robot_costmap_2d/directional_layer.h
@@ -13,7 +13,10 @@ namespace robot_costmap_2d
    virtual ~DirectionalLayer();
    bool laneFilter(const std::vector<robot_geometry_msgs::PoseStamped> plan);
    void resetMap();
-
+    LayerType getType() const override
+    {
+        return LayerType::DIRECTIONAL_LAYER;
+    }
 	private:
    void incomingMap(const robot_nav_msgs::OccupancyGrid &new_map);
 		bool laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const robot_nav_msgs::Path path);