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include
base_local_planner
line_iterator.h
Go to the documentation of this file.
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/*
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* Copyright (c) 2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef LINE_ITERATOR_H
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#define LINE_ITERATOR_H
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#include <stdlib.h>
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namespace
base_local_planner
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{
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class
LineIterator
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{
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public
:
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LineIterator
(
int
x0,
int
y0,
int
x1,
int
y1 )
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:
x0_
( x0 )
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,
y0_
( y0 )
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,
x1_
( x1 )
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,
y1_
( y1 )
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,
x_
( x0 )
// X and Y start of at first endpoint.
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,
y_
( y0 )
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,
deltax_
(
abs
( x1 - x0 ))
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,
deltay_
(
abs
( y1 - y0 ))
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,
curpixel_
( 0 )
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{
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if
(
x1_
>=
x0_
)
// The x-values are increasing
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{
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xinc1_
= 1;
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xinc2_
= 1;
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}
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else
// The x-values are decreasing
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{
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xinc1_
= -1;
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xinc2_
= -1;
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}
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if
(
y1_
>=
y0_
)
// The y-values are increasing
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{
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yinc1_
= 1;
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yinc2_
= 1;
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}
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else
// The y-values are decreasing
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{
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yinc1_
= -1;
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yinc2_
= -1;
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}
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if
(
deltax_
>=
deltay_
)
// There is at least one x-value for every y-value
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{
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xinc1_
= 0;
// Don't change the x when numerator >= denominator
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yinc2_
= 0;
// Don't change the y for every iteration
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den_
=
deltax_
;
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num_
=
deltax_
/ 2;
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numadd_
=
deltay_
;
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numpixels_
=
deltax_
;
// There are more x-values than y-values
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}
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else
// There is at least one y-value for every x-value
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{
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xinc2_
= 0;
// Don't change the x for every iteration
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yinc1_
= 0;
// Don't change the y when numerator >= denominator
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den_
=
deltay_
;
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num_
=
deltay_
/ 2;
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numadd_
=
deltax_
;
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numpixels_
=
deltay_
;
// There are more y-values than x-values
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}
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}
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bool
isValid
()
const
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{
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return
curpixel_
<=
numpixels_
;
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}
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void
advance
()
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{
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num_
+=
numadd_
;
// Increase the numerator by the top of the fraction
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if
(
num_
>=
den_
)
// Check if numerator >= denominator
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{
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num_
-=
den_
;
// Calculate the new numerator value
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x_
+=
xinc1_
;
// Change the x as appropriate
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y_
+=
yinc1_
;
// Change the y as appropriate
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}
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x_
+=
xinc2_
;
// Change the x as appropriate
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y_
+=
yinc2_
;
// Change the y as appropriate
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curpixel_
++;
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}
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int
getX
()
const
{
return
x_
; }
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int
getY
()
const
{
return
y_
; }
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int
getX0
()
const
{
return
x0_
; }
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int
getY0
()
const
{
return
y0_
; }
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int
getX1
()
const
{
return
x1_
; }
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int
getY1
()
const
{
return
y1_
; }
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private
:
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int
x0_
;
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int
y0_
;
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int
x1_
;
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int
y1_
;
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int
x_
;
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int
y_
;
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int
deltax_
;
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int
deltay_
;
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int
curpixel_
;
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int
xinc1_
,
xinc2_
,
yinc1_
,
yinc2_
;
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int
den_
,
num_
,
numadd_
,
numpixels_
;
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};
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}
// end namespace base_local_planner
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#endif // LINE_ITERATOR_H
base_local_planner::LineIterator::LineIterator
LineIterator(int x0, int y0, int x1, int y1)
Definition:
line_iterator.h:41
base_local_planner::LineIterator
Definition:
line_iterator.h:38
base_local_planner::LineIterator::getY1
int getY1() const
Definition:
line_iterator.h:121
base_local_planner::LineIterator::numadd_
int numadd_
Definition:
line_iterator.h:138
base_local_planner::LineIterator::y_
int y_
Y coordinate of current point.
Definition:
line_iterator.h:130
base_local_planner::LineIterator::y0_
int y0_
Y coordinate of first end point.
Definition:
line_iterator.h:125
base_local_planner::LineIterator::y1_
int y1_
Y coordinate of second end point.
Definition:
line_iterator.h:127
base_local_planner::LineIterator::x_
int x_
X coordinate of current point.
Definition:
line_iterator.h:129
base_local_planner::LineIterator::deltax_
int deltax_
Difference between Xs of endpoints.
Definition:
line_iterator.h:132
base_local_planner::LineIterator::getX1
int getX1() const
Definition:
line_iterator.h:120
base_local_planner
Definition:
costmap_model.h:44
base_local_planner::LineIterator::xinc1_
int xinc1_
Definition:
line_iterator.h:137
base_local_planner::LineIterator::numpixels_
int numpixels_
Definition:
line_iterator.h:138
base_local_planner::LineIterator::xinc2_
int xinc2_
Definition:
line_iterator.h:137
base_local_planner::LineIterator::yinc1_
int yinc1_
Definition:
line_iterator.h:137
base_local_planner::LineIterator::getY
int getY() const
Definition:
line_iterator.h:115
base_local_planner::LineIterator::getY0
int getY0() const
Definition:
line_iterator.h:118
base_local_planner::LineIterator::x1_
int x1_
X coordinate of second end point.
Definition:
line_iterator.h:126
base_local_planner::LineIterator::advance
void advance()
Definition:
line_iterator.h:99
abs
INLINE Rall1d< T, V, S > abs(const Rall1d< T, V, S > &x)
base_local_planner::LineIterator::num_
int num_
Definition:
line_iterator.h:138
base_local_planner::LineIterator::deltay_
int deltay_
Difference between Ys of endpoints.
Definition:
line_iterator.h:133
base_local_planner::LineIterator::curpixel_
int curpixel_
index of current point in line loop.
Definition:
line_iterator.h:135
base_local_planner::LineIterator::den_
int den_
Definition:
line_iterator.h:138
base_local_planner::LineIterator::yinc2_
int yinc2_
Definition:
line_iterator.h:137
base_local_planner::LineIterator::isValid
bool isValid() const
Definition:
line_iterator.h:94
base_local_planner::LineIterator::x0_
int x0_
X coordinate of first end point.
Definition:
line_iterator.h:124
base_local_planner::LineIterator::getX
int getX() const
Definition:
line_iterator.h:114
base_local_planner::LineIterator::getX0
int getX0() const
Definition:
line_iterator.h:117
base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49