submap_iterator.hpp

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#pragma once

#include "../common.hpp"
#include "../cost_map.hpp"
#include "../submap_geometry.hpp"

namespace cost_map {

class SubmapIterator
{
public:

  SubmapIterator(const cost_map::SubmapGeometry& submap);

  SubmapIterator(const cost_map::CostMap& gridMap, const cost_map::BufferRegion& bufferRegion);

  SubmapIterator(const cost_map::CostMap& gridMap, const Index& submapStartIndex,
                 const Size& submapSize);

  SubmapIterator(const SubmapIterator* other);

  SubmapIterator& operator =(const SubmapIterator& other);

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

  const Index& operator *() const;

  const Index& getSubmapIndex() const;

  SubmapIterator& operator ++();

  bool isPastEnd() const;

private:

  Size size_;

  Index startIndex_;

  Index index_;

  Size submapSize_;

  Index submapStartIndex_;

  Index submapIndex_;

  bool isPastEnd_;
};

} /* namespace */