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 *  Copyright (C) 2019 RoboMaster.
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#include "layer.h"

namespace roborts_costmap {

Layer::Layer()
    : layered_costmap_(NULL), is_current_(false), is_enabled_(false), name_(), tf_(NULL) {}

void Layer::Initialize(CostmapLayers *parent, std::string name, tf::TransformListener *tf, bool has_virtual_layer) {
  layered_costmap_ = parent;
  name_ = name;
  tf_ = tf;
  has_virtual_layer_ = has_virtual_layer;
  OnInitialize();
}

const std::vector<geometry_msgs::Point> &Layer::GetFootprint() const {
  return layered_costmap_->GetFootprint();
}

} //namespace roborts_costmap