GameElementLayer prototype

toid_costmaps/include/toid_costmaps/game_elements_layer.hpp

@@ -0,0 +1,39 @@
+#pragma once
+
+#include "nav2_costmap_2d/costmap_layer.hpp"
+#include "nav2_costmap_2d/layer.hpp"
+#include "nav2_costmap_2d/layered_costmap.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+namespace toid
+{
+
+class GameElementLayer : public nav2_costmap_2d::CostmapLayer
+{
+public:
+  GameElementLayer(){
+    costmap_ = NULL;
+  }
+  ~GameElementLayer(){}
+
+  virtual void onInitialize();
+  virtual void updateBounds(
+    double robot_x, double robot_y, double robot_yaw, double * min_x, double * min_y,
+    double * max_x, double * max_y);
+
+  virtual void updateCosts(
+    nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i, int max_j);
+
+  virtual void reset() { return; }
+
+  virtual void onFootprintChanged() {}
+
+  virtual bool isClearable() { return false; }
+
+private:
+  double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
+
+  bool need_recalculation_;
+};
+
+}  // namespace toid