Program Listing for File PolygonIterator.hpp

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/*
 * PolygonIterator.hpp
 *
 *  Created on: Sep 19, 2014
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#ifndef GRID_MAP_CORE__ITERATORS__POLYGONITERATOR_HPP_
#define GRID_MAP_CORE__ITERATORS__POLYGONITERATOR_HPP_

#include <memory>

#include "grid_map_core/GridMap.hpp"
#include "grid_map_core/Polygon.hpp"
#include "grid_map_core/iterators/SubmapIterator.hpp"

namespace grid_map
{

class PolygonIterator
{
public:
  PolygonIterator(const grid_map::GridMap & gridMap, const grid_map::Polygon & polygon);

  PolygonIterator & operator=(const PolygonIterator & other);

  bool operator!=(const PolygonIterator & other) const;

  const Index & operator*() const;

  PolygonIterator & operator++();

  bool isPastEnd() const;

private:
  bool isInside() const;

  void findSubmapParameters(
    const grid_map::Polygon & polygon, Index & startIndex,
    Size & bufferSize) const;

  grid_map::Polygon polygon_;

  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__POLYGONITERATOR_HPP_