updateWithTrueOverwrite

updateWithOverwrite

updateWithMax

updateWithAddition

void CostmapLayer::updateWithOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)

{

  if (!enabled_)

    return;

  unsigned char* master = master_grid.getCharMap();

  unsigned int span = master_grid.getSizeInCellsX();

  for (int j = min_j; j < max_j; j++)

  {

    unsigned int it = span*j+min_i;

    for (int i = min_i; i < max_i; i++)

    {

      if (costmap_[it] != NO_INFORMATION)

        master[it] = costmap_[it];//这里就是overwrite的涵义，costmap_是本层的地图数据。直接将本层的数据赋值给master map的对应索引就行了

      it++;

    }

  }

}

void CostmapLayer::touch(double x, double y, double* min_x, double* min_y, double* max_x, double* max_y)

{

    *min_x = std::min(x, *min_x);

    *min_y = std::min(y, *min_y);

    *max_x = std::max(x, *max_x);

    *max_y = std::max(y, *max_y);

}

void CostmapLayer::matchSize()

{

    Costmap2D* master = layered_costmap_->getCostmap();//这是由Layer  继承过来的，Layer的指针LayeredCostmap* layered_costmap_

    resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),master->getOriginX(), master->getOriginY());//这里调整的对象是继承的Costmap2D的数据成员char* costmap_, 也就是这里的调整是针对各层的地图，不是关于master map的。

}