Add buffer clearing when calling deactivate() or activate(). (#33)

DLu · Dec 25, 2016 · 932ba44 · 932ba44
1 parent 25b0c71
commit 932ba44
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diff --git a/range_sensor_layer/include/range_sensor_layer/range_sensor_layer.h b/range_sensor_layer/include/range_sensor_layer/range_sensor_layer.h
@@ -27,6 +27,8 @@ class RangeSensorLayer : public costmap_2d::CostmapLayer
                              double* max_y);
   virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
   virtual void reset();
+  virtual void deactivate();
+  virtual void activate();
 
 private:
   void reconfigureCB(range_sensor_layer::RangeSensorLayerConfig &config, uint32_t level);

diff --git a/range_sensor_layer/src/range_sensor_layer.cpp b/range_sensor_layer/src/range_sensor_layer.cpp
@@ -432,4 +432,14 @@ void RangeSensorLayer::reset()
   activate();
 }
 
+void RangeSensorLayer::deactivate()
+{
+  range_msgs_buffer_.clear();
+}
+
+void RangeSensorLayer::activate()
+{
+  range_msgs_buffer_.clear();
+}
+
 } // end namespace