33 lines
887 B
C++
33 lines
887 B
C++
#include <costmap_2d/unpreferred_layer.h>
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#include <boost/dll/alias.hpp>
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using costmap_2d::NO_INFORMATION;
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using costmap_2d::LETHAL_OBSTACLE;
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using costmap_2d::PREFERRED_SPACE;
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namespace costmap_2d
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{
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UnPreferredLayer::UnPreferredLayer(){}
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UnPreferredLayer::~UnPreferredLayer(){}
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unsigned char UnPreferredLayer::interpretValue(unsigned char value)
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{
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// check if the static value is above the unknown or lethal thresholds
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if(value == 0) return NO_INFORMATION;
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else if (value >= *this->threshold_)
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return UNPREFERRED_SPACE;
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double scale = (double) value / *this->threshold_;
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return scale * LETHAL_OBSTACLE;
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}
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// Export factory function
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static PluginLayerPtr create_unpreferred_plugin() {
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return std::make_shared<UnPreferredLayer>();
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}
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// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
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BOOST_DLL_ALIAS(create_unpreferred_plugin, create_plugin)
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} |