25 lines
583 B
C++
25 lines
583 B
C++
#ifndef ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_
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#define ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_
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#include <robot_costmap_2d/static_layer.h>
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namespace robot_costmap_2d
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{
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class CriticalLayer : public StaticLayer
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{
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public:
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CriticalLayer();
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virtual ~CriticalLayer();
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LayerType getType() const override
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{
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return LayerType::CRITICAL_LAYER;
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}
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private:
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unsigned char interpretValue(unsigned char value) override;
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void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) override;
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};
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}
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#endif // ROBOT_COSTMAP_2D_CRITICAL_LAYER_H_
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