| 97 | } |
| 98 | |
| 99 | void InflationLayer::MatchSize() { |
| 100 | std::unique_lock<std::recursive_mutex> lock(*inflation_access_); |
| 101 | Costmap2D *costmap = layered_costmap_->GetCostMap(); |
| 102 | resolution_ = costmap->GetResolution(); |
| 103 | cell_inflation_radius_ = CellDistance(inflation_radius_); |
| 104 | ComputeCaches(); |
| 105 | |
| 106 | unsigned int size_x = costmap->GetSizeXCell(), size_y = costmap->GetSizeYCell(); |
| 107 | if (seen_) |
| 108 | delete[] seen_; |
| 109 | seen_size_ = size_x * size_y; |
| 110 | seen_ = new bool[seen_size_]; |
| 111 | } |
| 112 | |
| 113 | void InflationLayer::UpdateBounds(double robot_x, double robot_y, double robot_yaw, double *min_x, |
| 114 | double *min_y, double *max_x, double *max_y) { |
nothing calls this directly
no test coverage detected