.. _program_listing_file__tmp_ws_src_grid_map_grid_map_core_include_grid_map_core_iterators_SlidingWindowIterator.hpp:

Program Listing for File SlidingWindowIterator.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_core_include_grid_map_core_iterators_SlidingWindowIterator.hpp>` (``/tmp/ws/src/grid_map/grid_map_core/include/grid_map_core/iterators/SlidingWindowIterator.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * SlidingWindowIterator.hpp
    *
    *  Created on: Aug 17, 2017
    *      Author: Péter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    */
   
   #ifndef GRID_MAP_CORE__ITERATORS__SLIDINGWINDOWITERATOR_HPP_
   #define GRID_MAP_CORE__ITERATORS__SLIDINGWINDOWITERATOR_HPP_
   
   #include <Eigen/Core>
   #include <string>
   
   #include "grid_map_core/GridMap.hpp"
   #include "grid_map_core/iterators/GridMapIterator.hpp"
   
   namespace grid_map
   {
   
   class SlidingWindowIterator : public GridMapIterator
   {
   public:
     enum class EdgeHandling
     {
       INSIDE,  // Only visit indices that are surrounded by a full window.
       CROP,  // Crop data matrix with missing cells at edges.
       EMPTY,  // Fill in missing edges with empty cells (NAN-value).
       MEAN  // Fill in missing edges with MEAN of valid values.
     };
   
     SlidingWindowIterator(
       const GridMap & gridMap, const std::string & layer,
       const EdgeHandling & edgeHandling = EdgeHandling::CROP,
       const size_t windowSize = 3);
   
     explicit SlidingWindowIterator(const SlidingWindowIterator * other);
   
     void setWindowLength(const GridMap & gridMap, const double windowLength);
   
     SlidingWindowIterator & operator++();
   
     const Matrix getData() const;
   
   private:
     void setup(const GridMap & gridMap);
   
     bool dataInsideMap() const;
   
     const EdgeHandling edgeHandling_;
   
     const Matrix & data_;
   
     size_t windowSize_;
   
     size_t windowMargin_;
   
   public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
   
   }  // namespace grid_map
   
   #endif  // GRID_MAP_CORE__ITERATORS__SLIDINGWINDOWITERATOR_HPP_