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00035 #ifndef NAV_GRID_NAV_GRID_H
00036 #define NAV_GRID_NAV_GRID_H
00037
00038 #include <nav_grid/nav_grid_info.h>
00039 #include <nav_grid/index.h>
00040 #include <string>
00041
00042 namespace nav_grid
00043 {
00076 template <typename T> class NavGrid
00077 {
00078 public:
00079 explicit NavGrid(const T default_value = T{}) : default_value_(default_value) {}
00080
00084 virtual void reset() = 0;
00085
00092 virtual T getValue(const unsigned int x, const unsigned int y) const = 0;
00093
00100 virtual void setValue(const unsigned int x, const unsigned int y, const T& value) = 0;
00101
00103
00104
00106 T getValue(const Index& index) { return getValue(index.x, index.y); }
00107 T operator() (const unsigned int x, const unsigned int y) const { return getValue(x, y); }
00108 T operator() (const Index& index) const { return getValue(index.x, index.y); }
00109 void setValue(const Index& index, const T& value) { setValue(index.x, index.y, value); }
00110
00117 virtual void setInfo(const NavGridInfo& new_info) = 0;
00118
00127 virtual void updateInfo(const NavGridInfo& new_info) { setInfo(new_info); }
00128
00129 inline NavGridInfo getInfo() const { return info_; }
00130
00135 void setDefaultValue(const T new_value)
00136 {
00137 default_value_ = new_value;
00138 }
00139
00140
00141
00142
00143 inline unsigned int getWidth() const { return info_.width; }
00144 inline unsigned int getHeight() const { return info_.height; }
00145 inline double getResolution() const { return info_.resolution; }
00146 inline std::string getFrameId() const { return info_.frame_id; }
00147 inline double getOriginX() const { return info_.origin_x; }
00148 inline double getOriginY() const { return info_.origin_y; }
00149
00150 protected:
00151 NavGridInfo info_;
00152 T default_value_;
00153 };
00154
00155 }
00156
00157 #endif // NAV_GRID_NAV_GRID_H