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/inflation_layer.h
+++ b/include/robot_costmap_2d/inflation_layer.h
@@ -67,6 +67,7 @@ public:
  unsigned int index_;
  unsigned int x_, y_;
  unsigned int src_x_, src_y_;
+  
 };

 class InflationLayer : public Layer
@@ -120,6 +121,10 @@ public:
   */
  void setInflationParameters(double inflation_radius, double cost_scaling_factor);

+  LayerType getType() const override
+  {
+      return LayerType::INFLATION_LAYER;
+  }
 protected:
  virtual void onFootprintChanged();
  boost::recursive_mutex* inflation_access_;