Program Listing for File layered_maps.hpp

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#ifndef TUW_GEOMETRY__LAYERED_MAPS_HPP
#define TUW_GEOMETRY__LAYERED_MAPS_HPP

#include <memory>
#include <tuw_geometry/world_scoped_maps.hpp>

namespace tuw
{

class LayeredMaps;
using LayeredMapsPtr = std::shared_ptr<LayeredMaps>;
using LayeredMapsCostPtr = std::shared_ptr<const LayeredMaps>;

class LayeredMaps : public WorldScopedMaps
{
public:
  enum Interpolation { SIMPLE = 0, BILINEAR = 1 };

  //special class member functions
  LayeredMaps();
  virtual ~LayeredMaps() = default;
  LayeredMaps(const LayeredMaps &) = default;
  LayeredMaps & operator=(const LayeredMaps &) = default;
  LayeredMaps(LayeredMaps &&) = default;
  LayeredMaps & operator=(LayeredMaps &&) = default;

  void initLayers(
    int width_pixel, int height_pixel, double min_x, double max_x, double min_y, double max_y,
    double rotation = 0);
  void clearLayers();
  void clearLayer(const size_t & _layer);
  void resizeLayers(const size_t & _n);
  size_t sizeLayers() const;

  cv::Mat & mapLayer(const size_t & _layer);
  const cv::Mat & mapLayer(const size_t & _layer) const;
  double getVal(
    const size_t & _layer, const tuw::Point2D & _worldPos,
    Interpolation interpolationType = BILINEAR) const;

  void computeDistanceField(
    cv::Mat & _mDst, std::vector<Point2D> & _pSrc, const double & _radius,
    bool _flipDistance = false, bool connectPoints = false) const;
  void computeDistanceField(
    cv::Mat & _mDst, cv::Mat & _mSrc, const double & _radius, bool _flipDistance = false) const;

protected:
  virtual void initLayers();

private:
  std::vector<cv::Mat> mapLayers_;
};
}  // namespace tuw
#endif  // TUW_GEOMETRY__LAYERED_MAPS_HPP