inflation_layer_interface.hpp

// Copyright (c) 2026, Dexory (Tony Najjar)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_COSTMAP_2D__INFLATION_LAYER_INTERFACE_HPP_
#define NAV2_COSTMAP_2D__INFLATION_LAYER_INTERFACE_HPP_
 
#include <memory>
#include <mutex>
#include <string>
 
#include "nav2_costmap_2d/layer.hpp"
#include "nav2_costmap_2d/costmap_2d.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
 
namespace nav2_costmap_2d
{
 
class InflationLayerInterface : public Layer
{
public:
  typedef std::recursive_mutex mutex_t;
 
  virtual ~InflationLayerInterface() = default;
 
  virtual double getCostScalingFactor() = 0;
 
  virtual double getInflationRadius() = 0;
 
  virtual mutex_t * getMutex() = 0;
 
  virtual unsigned char computeCost(double distance) const = 0;
 
  static inline std::shared_ptr<InflationLayerInterface> getInflationLayer(
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros,
    const std::string layer_name = "")
  {
    const auto layered_costmap = costmap_ros->getLayeredCostmap();
    for (auto layer = layered_costmap->getPlugins()->begin();
      layer != layered_costmap->getPlugins()->end();
      ++layer)
    {
      auto inflation_layer =
        std::dynamic_pointer_cast<nav2_costmap_2d::InflationLayerInterface>(*layer);
      if (inflation_layer) {
        if (layer_name.empty() || inflation_layer->getName() == layer_name) {
          return inflation_layer;
        }
      }
    }
    return nullptr;
  }
};
 
}  // namespace nav2_costmap_2d
 
#endif  // NAV2_COSTMAP_2D__INFLATION_LAYER_INTERFACE_HPP_