nav_grid.h
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00001 /*
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00034 
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   // Note: You may not be able to use these unless your deriving class declares using NavGrid<T>::operator() or
00104   // using NavGrid<T>::getValue
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    * NavGridInfo accessor methods
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 }  // namespace nav_grid
00156 
00157 #endif  // NAV_GRID_NAV_GRID_H


nav_grid
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autogenerated on Wed Jun 26 2019 20:09:30