#include <EllipseIterator.hpp>

Public Member Functions
	EllipseIterator (const GridMap &gridMap, const Position &center, const Length &length, const double rotation=0.0)
const Size &	getSubmapSize () const
bool	isPastEnd () const
bool	operator!= (const EllipseIterator &other) const
const Index &	operator* () const
EllipseIterator &	operator++ ()
EllipseIterator &	operator= (const EllipseIterator &other)
Private Member Functions
void	findSubmapParameters (const Position &center, const Length &length, const double rotation, Index &startIndex, Size &bufferSize) const
bool	isInside () const
Private Attributes
Size	bufferSize_
Index	bufferStartIndex_
Position	center_
	Position of the circle center;.
std::shared_ptr< SubmapIterator >	internalIterator_
	Grid submap iterator. // TODO Think of using unique_ptr instead.
Length	mapLength_
	Map information needed to get position from iterator.
Position	mapPosition_
double	resolution_
Eigen::Array2d	semiAxisSquare_
	Square length of the semi axis.
Eigen::Matrix2d	transformMatrix_
	Sine and cosine values of the rotation angle as transformation matrix.

Detailed Description

Iterator class to iterate through a ellipsoid area of the map. The main axis of the ellipse are aligned with the map frame.

Definition at line 24 of file EllipseIterator.hpp.

Constructor & Destructor Documentation

grid_map::EllipseIterator::EllipseIterator	(	const GridMap &	gridMap,
		const Position &	center,
		const Length &	length,
		const double	rotation = `0.0`
	)

Constructor.

Parameters:

gridMap	the grid map to iterate on.
center	the position of the ellipse center.
length	the length of the main axis.
angle	the rotation angle of the ellipse (in [rad]).

Definition at line 19 of file EllipseIterator.cpp.

Member Function Documentation

void grid_map::EllipseIterator::findSubmapParameters	(	const Position &	center,
		const Length &	length,
		const double	rotation,
		Index &	startIndex,
		Size &	bufferSize
	)		const `[private]`

Finds the submap that fully contains the ellipse and returns the parameters.

Parameters:

[in]	center	the position of the ellipse center.
[in]	length	the length of the main axis.
[in]	angle	the rotation angle of the ellipse (in [rad]).
[out]	startIndex	the start index of the submap.
[out]	bufferSize	the buffer size of the submap.

Definition at line 92 of file EllipseIterator.cpp.

const Size & grid_map::EllipseIterator::getSubmapSize ( ) const

Returns the size of the submap covered by the iterator.

Returns:: the size of the submap covered by the iterator.

Definition at line 79 of file EllipseIterator.cpp.

bool grid_map::EllipseIterator::isInside ( ) const [private]

Check if current index is inside the ellipse.

Returns:: true if inside, false otherwise.

Definition at line 84 of file EllipseIterator.cpp.

bool grid_map::EllipseIterator::isPastEnd ( ) const

Indicates if iterator is past end.

Returns:: true if iterator is out of scope, false if end has not been reached.

Definition at line 74 of file EllipseIterator.cpp.

bool grid_map::EllipseIterator::operator!= ( const EllipseIterator & other ) const

Compare to another iterator.

Returns:: whether the current iterator points to a different address than the other one.

Definition at line 52 of file EllipseIterator.cpp.

const Eigen::Array2i & grid_map::EllipseIterator::operator* ( ) const

Dereference the iterator with const.

Returns:: the value to which the iterator is pointing.

Definition at line 57 of file EllipseIterator.cpp.

EllipseIterator & grid_map::EllipseIterator::operator++ ( )

Increase the iterator to the next element.

Returns:: a reference to the updated iterator.

Definition at line 62 of file EllipseIterator.cpp.

EllipseIterator & grid_map::EllipseIterator::operator= ( const EllipseIterator & other )

Assignment operator.

Parameters:

iterator the iterator to copy data from.

Returns:: a reference to *this.

Definition at line 38 of file EllipseIterator.cpp.

Member Data Documentation

Size grid_map::EllipseIterator::bufferSize_ [private]

Definition at line 109 of file EllipseIterator.hpp.

Index grid_map::EllipseIterator::bufferStartIndex_ [private]

Definition at line 110 of file EllipseIterator.hpp.

Position grid_map::EllipseIterator::center_ [private]

Position of the circle center;.

Definition at line 94 of file EllipseIterator.hpp.

std::shared_ptr<SubmapIterator> grid_map::EllipseIterator::internalIterator_ [private]

Grid submap iterator. // TODO Think of using unique_ptr instead.

Definition at line 103 of file EllipseIterator.hpp.

Length grid_map::EllipseIterator::mapLength_ [private]

Map information needed to get position from iterator.

Definition at line 106 of file EllipseIterator.hpp.

Position grid_map::EllipseIterator::mapPosition_ [private]

Definition at line 107 of file EllipseIterator.hpp.

double grid_map::EllipseIterator::resolution_ [private]

Definition at line 108 of file EllipseIterator.hpp.

Eigen::Array2d grid_map::EllipseIterator::semiAxisSquare_ [private]

Square length of the semi axis.

Definition at line 97 of file EllipseIterator.hpp.

Eigen::Matrix2d grid_map::EllipseIterator::transformMatrix_ [private]

Sine and cosine values of the rotation angle as transformation matrix.

Definition at line 100 of file EllipseIterator.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation