1738_29102025

include/costmap_2d/inflation_layer.h

@@ -2,14 +2,13 @@
 #ifndef COSTMAP_2D_INFLATION_LAYER_H_
 #define COSTMAP_2D_INFLATION_LAYER_H_
 
-// #include <ros/ros.h>
 #include <costmap_2d/layer.h>
 #include <costmap_2d/layered_costmap.h>
-// #include <costmap_2d/InflationPluginConfig.h>
-// #include <dynamic_reconfigure/server.h>
 #include <boost/thread.hpp>
 #include <boost/dll/alias.hpp>
-
+#include <stdexcept>
+#include <iostream>
+#include <yaml-cpp/yaml.h>
 
 namespace costmap_2d
 {
@@ -46,8 +45,6 @@ public:
   virtual ~InflationLayer()
   {
     deleteKernels();
-    // if (dsrv_)
-    //     delete dsrv_;
     if (seen_)
         delete[] seen_;
   }
@@ -155,8 +152,7 @@ private:
   double** cached_distances_;
   double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
 
-//   dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig> *dsrv_;
-//   void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level);
+  bool getParams();
 
   bool need_reinflation_;  ///< Indicates that the entire costmap should be reinflated next time around.
 };