DuongTD/costmap_2d
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update folder plugins

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This commit is contained in:
duongtd
2025-11-13 17:39:09 +07:00
parent c94de60a7b
commit bd98bf4e08
18 changed files with 1008 additions and 610 deletions
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6
plugins/critical_layer.cpp
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@@ -13,6 +13,7 @@ CriticalLayer::~CriticalLayer(){}
unsigned char CriticalLayer::interpretValue(unsigned char value)
{
// printf("TEST PLUGIN CRITICAL\n");
// check if the static value is above the unknown or lethal thresholds
if(value >= *this->threshold_)
return CRITICAL_SPACE;
@@ -22,12 +23,13 @@ unsigned char CriticalLayer::interpretValue(unsigned char value)
void CriticalLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
// printf("TEST PLUGIN CRITICAL\n");
if (!map_received_)
return;
// if not rolling, the layered costmap (master_grid) has same coordinates as this layer
if (!use_maximum_)
updateWithOverwrite(master_grid, min_i, min_j, max_i, max_j);
StaticLayer::CostmapLayer::updateWithOverwrite(master_grid, min_i, min_j, max_i, max_j);
else
updateWithMax(master_grid, min_i, min_j, max_i, max_j);
@@ -40,4 +42,6 @@ static PluginStaticLayerPtr create_critical_plugin() {
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_critical_plugin, create_plugin_static_layer)
}