otimal deep coppy obj

include/robot_costmap_2d/inflation_layer.h

@@ -42,6 +42,9 @@
 #include <robot_costmap_2d/layered_costmap.h>
 #include <boost/thread.hpp>
 
+#include <cstdint>
+#include <vector>
+
 namespace robot_costmap_2d
 {
 /**
@@ -77,8 +80,7 @@ public:
   virtual ~InflationLayer()
   {
     deleteKernels();
-    if (seen_)
-        delete[] seen_;
+    delete inflation_access_;
   }
 
   virtual void onInitialize();
@@ -184,10 +186,13 @@ private:
 
   unsigned int cell_inflation_radius_;
   unsigned int cached_cell_inflation_radius_;
-  std::map<double, std::vector<CellData> > inflation_cells_;
+  std::vector<std::vector<CellData>> inflation_cells_;
+  std::vector<double> distance_levels_;
+  std::vector<unsigned int> distance_bin_lookup_;
+  unsigned int distance_lookup_size_ = 0;
 
-  bool* seen_;
-  int seen_size_;
+  std::vector<std::uint32_t> seen_;
+  std::uint32_t seen_generation_ = 0;
 
   unsigned char** cached_costs_;
   double** cached_distances_;