Program Listing for File SubmapGeometry.hpp

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/*
 * SubmapGeometry.hpp
 *
 *  Created on: Aug 18, 2015
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#ifndef GRID_MAP_CORE__SUBMAPGEOMETRY_HPP_
#define GRID_MAP_CORE__SUBMAPGEOMETRY_HPP_


#include <grid_map_core/GridMap.hpp>

namespace grid_map
{

class GridMap;

class SubmapGeometry
{
public:
  SubmapGeometry(
    const GridMap & gridMap, const Position & position, const Length & length,
    bool & isSuccess);

  virtual ~SubmapGeometry();

  const GridMap & getGridMap() const;
  const Length & getLength() const;
  const Position & getPosition() const;
  const Index & getRequestedIndexInSubmap() const;
  const Size & getSize() const;
  double getResolution() const;
  const Index & getStartIndex() const;

private:
  const GridMap & gridMap_;

  Index startIndex_;

  Size size_;

  Position position_;

  Length length_;

  Index requestedIndexInSubmap_;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace grid_map
#endif  // GRID_MAP_CORE__SUBMAPGEOMETRY_HPP_