00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2018, Locus Robotics 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef NAV_GRID_ITERATORS_POLYGON_OUTLINE_H 00036 #define NAV_GRID_ITERATORS_POLYGON_OUTLINE_H 00037 00038 #include <nav_grid_iterators/base_iterator.h> 00039 #include <nav_grid_iterators/line.h> 00040 #include <nav_2d_msgs/Polygon2D.h> 00041 00042 namespace nav_grid_iterators 00043 { 00048 class PolygonOutline : public BaseIterator<PolygonOutline> 00049 { 00050 public: 00056 PolygonOutline(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon, bool bresenham = true); 00057 00062 PolygonOutline(const PolygonOutline& other); 00063 00068 PolygonOutline& operator=(const PolygonOutline& other); 00069 00072 PolygonOutline begin() const override; 00073 PolygonOutline end() const override; 00074 void increment() override; 00075 bool fieldsEqual(const PolygonOutline& other) override; 00078 protected: 00086 PolygonOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, nav_2d_msgs::Polygon2D polygon, 00087 bool bresenham, unsigned int side_index); 00088 00093 void loadSide(); 00094 00095 std::unique_ptr<Line> internal_iterator_; 00096 nav_2d_msgs::Polygon2D polygon_; 00097 nav_grid::Index start_index_; 00098 bool bresenham_; 00099 unsigned int side_index_; 00100 }; 00101 } // namespace nav_grid_iterators 00102 00103 #endif // NAV_GRID_ITERATORS_POLYGON_OUTLINE_H