layer.hpp

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#ifndef NAV2_COSTMAP_2D__LAYER_HPP_
#define NAV2_COSTMAP_2D__LAYER_HPP_
 
#include <atomic>
#include <string>
#include <vector>
#include <unordered_set>
 
#include "nav2_ros_common/tf2_factories.hpp"
#include "rclcpp/callback_group.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/logger.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "nav2_costmap_2d/layered_costmap.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_costmap_2d
{
class LayeredCostmap;
 
class Layer
{
public:
  Layer();
  virtual ~Layer() {}
 
  void initialize(
    LayeredCostmap * parent,
    std::string name,
    nav2::TransformBuffer * tf,
    const nav2::LifecycleNode::WeakPtr & node,
    rclcpp::CallbackGroup::SharedPtr callback_group);
  virtual void deactivate() {}
  virtual void activate() {}
  virtual void reset() = 0;
  virtual bool isClearable() = 0;
 
  virtual void updateBounds(
    double robot_x, double robot_y, double robot_yaw, double * min_x,
    double * min_y,
    double * max_x,
    double * max_y) = 0;
 
  virtual void updateCosts(
    Costmap2D & master_grid,
    int min_i, int min_j, int max_i, int max_j) = 0;
 
  virtual void matchSize() {}
 
  virtual void onFootprintChanged() {}
  std::string getName() const
  {
    return name_;
  }
 
  bool isCurrent() const
  {
    return current_;
  }
 
  void setCurrent(bool current)
  {
    current_ = current;
  }
 
  bool isEnabled() const
  {
    return enabled_;
  }
 
  const std::vector<geometry_msgs::msg::Point> & getFootprint() const;
  std::string getFullName(const std::string & param_name);
 
  std::string joinWithParentNamespace(const std::string & topic);
 
protected:
  LayeredCostmap * layered_costmap_;
  std::string name_;
  nav2::TransformBuffer * tf_;
  rclcpp::CallbackGroup::SharedPtr callback_group_;
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_{rclcpp::get_logger("nav2_costmap_2d")};
 
  virtual void onInitialize() {}
 
  std::atomic_bool current_;
  // Currently this var is managed by subclasses.
  // TODO(bpwilcox): make this managed by this class and/or container class.
  bool enabled_;
 
private:
  std::vector<geometry_msgs::msg::Point> footprint_spec_;
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__LAYER_HPP_