ROS naviagtion analysis: costmap_2d--Costmap2D

Costmap2D是存储地图数据的父类。真正的地图数据就存储在数据成员unsigned char *costmap_ 。
首先，分析类的构造函数:
默认构造函数：Costmap2D::Costmap2D() :

// just initialize everything to NULL by default
Costmap2D::Costmap2D() :
    size_x_(0), size_y_(0), resolution_(0.0), origin_x_(0.0), origin_y_(0.0), costmap_(NULL)
{
  access_ = new mutex_t();
}

带参数的构造函数：Costmap2D::Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value)

Costmap2D::Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
                     double origin_x, double origin_y, unsigned char default_value) :
    size_x_(cells_size_x), size_y_(cells_size_y), resolution_(resolution), origin_x_(origin_x),
    origin_y_(origin_y), costmap_(NULL), default_value_(default_value)
{
  access_ = new mutex_t();

  // create the costmap
  initMaps(size_x_, size_y_);
  resetMaps();
}

Copy 构造函数：Costmap2D::Costmap2D(const Costmap2D& map)

Costmap2D::Costmap2D(const Costmap2D& map) :
    costmap_(NULL)
{
  access_ = new mutex_t();
  *this