adding getCostScalingFactor (ros-navigation#3290)

botsandus · Jan 5, 2023 · ac62774 · ac62774
1 parent f0d761f
commit ac62774
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp
@@ -172,6 +172,11 @@ class InflationLayer : public Layer
     return access_;
   }
 
+  double getCostScalingFactor()
+  {
+    return cost_scaling_factor_;
+  }
+
 protected:
   /**
    * @brief Process updates on footprint changes to the inflation layer

diff --git a/nav2_costmap_2d/plugins/inflation_layer.cpp b/nav2_costmap_2d/plugins/inflation_layer.cpp
@@ -442,7 +442,7 @@ InflationLayer::dynamicParametersCallback(
         need_reinflation_ = true;
         need_cache_recompute = true;
       } else if (param_name == name_ + "." + "cost_scaling_factor" && // NOLINT
-        cost_scaling_factor_ != parameter.as_double())
+        getCostScalingFactor() != parameter.as_double())
       {
         cost_scaling_factor_ = parameter.as_double();
         need_reinflation_ = true;