velocity_iterator.h

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* Author: Eitan Marder-Eppstein
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#ifndef DWA_LOCAL_PLANNER_VELOCITY_ITERATOR_H_
#define DWA_LOCAL_PLANNER_VELOCITY_ITERATOR_H_
#include <algorithm>

namespace dwa_local_planner {
  class VelocityIterator {
    public:
      VelocityIterator(double min, double max, double step_size):
        min_(min),
        max_(max),
        step_size_(step_size),
        current_sample_(min),
        finished_(false)
      {
      }

      double getVelocity(){
        return current_sample_;
      }

      VelocityIterator& operator++(int){
        if(current_sample_ == max_){
          finished_ = true;
          return *this;
        }

        double next_sample_ = current_sample_ + step_size_;

        if(next_sample_ * current_sample_ < 0.0)
          current_sample_ = 0.0;
        else
          current_sample_ = next_sample_;

        if(current_sample_ >= max_)
          current_sample_ = max_;

        return *this;
      }

      bool isFinished(){
        return finished_;
      }

    private:
      double min_, max_, step_size_, current_sample_;
      bool finished_;
  };
};
#endif