#ifndef ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_
#define ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_

#include <robot_costmap_2d/static_layer.h>

namespace robot_costmap_2d
{
class CriticalLayer : public StaticLayer
{
public:
  CriticalLayer();
  virtual ~CriticalLayer();
private:
  unsigned char interpretValue(unsigned char value) override;
  void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) override;
};
}

#endif // ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_