SlidingWindowIterator.hpp
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00001 /*
00002  * SlidingWindowIterator.hpp
00003  *
00004  *  Created on: Aug 17, 2017
00005  *      Author: Péter Fankhauser
00006  *   Institute: ETH Zurich, ANYbotics
00007  */
00008 
00009 #pragma once
00010 
00011 #include "grid_map_core/GridMap.hpp"
00012 
00013 #include "grid_map_core/iterators/GridMapIterator.hpp"
00014 
00015 #include <Eigen/Core>
00016 
00017 namespace grid_map {
00018 
00024 class SlidingWindowIterator : public GridMapIterator
00025 {
00026 public:
00027 
00028   enum class EdgeHandling {
00029     INSIDE, // Only visit indices that are surrounded by a full window.
00030     CROP, // Crop data matrix with missing cells at edges.
00031     EMPTY, // Fill in missing edges with empty cells (NAN-value).
00032     MEAN // Fill in missing edges with MEAN of valid values.
00033   };
00034 
00042   SlidingWindowIterator(const GridMap& gridMap, const std::string& layer,
00043                         const EdgeHandling& edgeHandling = EdgeHandling::CROP,
00044                         const size_t windowSize = 3);
00045 
00050   SlidingWindowIterator(const SlidingWindowIterator* other);
00051 
00057   void setWindowLength(const GridMap& gridMap, const double windowLength);
00058 
00063   SlidingWindowIterator& operator ++();
00064 
00069   const Matrix getData() const;
00070 
00071 private:
00073   void setup(const GridMap& gridMap);
00074 
00076   bool dataInsideMap() const;
00077 
00079   const EdgeHandling edgeHandling_;
00080 
00082   const Matrix& data_;
00083 
00085   size_t windowSize_;
00086 
00088   size_t windowMargin_;
00089 
00090  public:
00091   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00092 };
00093 
00094 } /* namespace */


grid_map_core
Author(s): Péter Fankhauser
autogenerated on Tue Jul 9 2019 05:06:13