nav_grid_iterators: polygon_fill.h Source File

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00001 /*
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00034 
00035 #ifndef NAV_GRID_ITERATORS_POLYGON_FILL_H
00036 #define NAV_GRID_ITERATORS_POLYGON_FILL_H
00037 
00038 #include <nav_grid_iterators/base_iterator.h>
00039 #include <nav_grid_iterators/sub_grid.h>
00040 #include <nav_2d_msgs/Polygon2D.h>
00041 
00042 namespace nav_grid_iterators
00043 {
00048 class PolygonFill : public BaseIterator<PolygonFill>
00049 {
00050 public:
00056   PolygonFill(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon);
00057 
00062   PolygonFill(const PolygonFill& other);
00063 
00068   PolygonFill& operator=(const PolygonFill& other);
00069 
00072   PolygonFill begin() const override;
00073   PolygonFill end() const override;
00074   void increment() override;
00075   bool fieldsEqual(const PolygonFill& other) override;
00078 protected:
00090   PolygonFill(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, nav_2d_msgs::Polygon2D polygon,
00091               unsigned int min_x, unsigned int min_y, unsigned int width, unsigned int height,
00092               const nav_grid::Index& start_index);
00093 
00094 
00099   bool isInside(unsigned int x, unsigned int y) const;
00100 
00101   nav_2d_msgs::Polygon2D polygon_;
00102   unsigned int min_x_, min_y_, width_, height_;
00103   nav_grid::Index start_index_;
00104   std::unique_ptr<SubGrid> internal_iterator_;
00105 };
00106 }  // namespace nav_grid_iterators
00107 
00108 #endif  // NAV_GRID_ITERATORS_POLYGON_FILL_H