Program Listing for File CircleIterator.hpp
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/*
* CircleIterator.hpp
*
* Created on: Nov 13, 2014
* Author: Péter Fankhauser
* Institute: ETH Zurich, ANYbotics
*/
#ifndef GRID_MAP_CORE__ITERATORS__CIRCLEITERATOR_HPP_
#define GRID_MAP_CORE__ITERATORS__CIRCLEITERATOR_HPP_
#include <Eigen/Core>
#include <memory>
#include "grid_map_core/GridMap.hpp"
#include "grid_map_core/iterators/SubmapIterator.hpp"
namespace grid_map
{
class CircleIterator
{
public:
CircleIterator(const GridMap & gridMap, const Position & center, const double radius);
CircleIterator & operator=(const CircleIterator & other);
bool operator!=(const CircleIterator & other) const;
const Index & operator*() const;
CircleIterator & operator++();
bool isPastEnd() const;
private:
bool isInside() const;
void findSubmapParameters(
const Position & center, const double radius,
Index & startIndex, Size & bufferSize) const;
Position center_;
double radius_;
double radiusSquare_;
std::shared_ptr<SubmapIterator> internalIterator_;
Length mapLength_;
Position mapPosition_;
double resolution_;
Size bufferSize_;
Index bufferStartIndex_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace grid_map
#endif // GRID_MAP_CORE__ITERATORS__CIRCLEITERATOR_HPP_