circle_iterator.hpp

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#pragma once

#include <Eigen/Core>

// unique_ptr
#include <memory>
#include "../iterators/submap_iterator.hpp"
#include "../cost_map.hpp"

namespace cost_map {

class CircleIterator
{
public:

  CircleIterator(const CostMap& gridMap, const Position& center, const double radius);

  CircleIterator& operator =(const CircleIterator& other);

  bool operator !=(const CircleIterator& other) const;

  const Index& operator *() const;

  CircleIterator& operator ++();

  bool isPastEnd() const;

private:

  bool isInside() const;

  void findSubmapParameters(const Position& center, const double radius,
                            Index& startIndex, Size& bufferSize) const;

  Position center_;

  double radius_;

  double radiusSquare_;

  std::shared_ptr<SubmapIterator> internalIterator_;

  Length mapLength_;
  Position mapPosition_;
  double resolution_;
  Size bufferSize_;
  Index bufferStartIndex_;
};

} /* namespace */