add function getTypeLayer

include/robot_costmap_2d/layer.h

@@ -45,6 +45,21 @@
 #include <robot/node_handle.h>
 namespace robot_costmap_2d
 {
+enum class LayerType
+{
+    UNKNOWN,
+    STATIC_LAYER,
+    OBSTACLE_LAYER,
+    INFLATION_LAYER,
+    CRITICAL_LAYER,
+    DIRECTIONAL_LAYER,
+    PREFERRED_LAYER,
+    UNPREFERRED_LAYER,
+    VOXEL_LAYER
+};
+
+
+
 class LayeredCostmap;
 
 class Layer
@@ -79,7 +94,7 @@ public:
 
   virtual void reset() {}
 
-  virtual ~Layer() {}
+  virtual ~Layer() = default;
 
   /**
    * @brief Check to make sure all the data in the layer is up to date.
@@ -130,6 +145,8 @@ public:
    * notified of changes to the robot's footprint. */
   virtual void onFootprintChanged() {}
 
+  virtual LayerType getType() const { return LayerType::UNKNOWN; }
+
   template<typename T>
   void dataCallBack(const T& value, const std::string& topic) {
       handle(value, topic);