Method ResetLayers

roborts_costmap/src/costmap_interface.cpp:313–320

}

void CostmapInterface::ResetLayers() {
  Costmap2D *master = layered_costmap_->GetCostMap();
  master->ResetPartMap(0, 0, master->GetSizeXCell(), master->GetSizeYCell());
  auto plugins = layered_costmap_->GetPlugins();
  for (auto plugin = (*plugins).begin(); plugin != (*plugins).end(); ++plugin) {
    (*plugin)->Reset();
  }
}

bool CostmapInterface::GetRobotPose(tf::Stamped<tf::Pose> &global_pose) const {
  global_pose.setIdentity();