| 57 | : layered_costmap_(NULL), is_current_(false), is_enabled_(false), name_(), tf_(NULL) {} |
| 58 | |
| 59 | void Layer::Initialize(CostmapLayers *parent, std::string name, tf::TransformListener *tf) { |
| 60 | layered_costmap_ = parent; |
| 61 | name_ = name; |
| 62 | tf_ = tf; |
| 63 | OnInitialize(); |
| 64 | } |
| 65 | |
| 66 | const std::vector<geometry_msgs::Point> &Layer::GetFootprint() const { |
| 67 | return layered_costmap_->GetFootprint(); |