cost_map::SpiralIterator Class Reference

#include <spiral_iterator.hpp>

Public Member Functions
double	getCurrentRadius () const
bool	isPastEnd () const
bool	operator!= (const SpiralIterator &other) const
const Eigen::Array2i &	operator* () const
SpiralIterator &	operator++ ()
SpiralIterator &	operator= (const SpiralIterator &other)
	SpiralIterator (const cost_map::CostMap &gridMap, const Eigen::Vector2d &center, const double radius)

Private Member Functions
void	generateRing ()
bool	isInside (const Index index) const
int	signum (const int val)

Private Attributes
Size	bufferSize_
Position	center_
	Position of the circle center;. More...
unsigned int	distance_
Index	indexCenter_
Length	mapLength_
	Map information needed to get position from iterator. More...
Position	mapPosition_
unsigned int	nRings_
	Number of rings into the circle is divided. More...
std::vector< Index >	pointsRing_
double	radius_
	Radius of the circle. More...
double	radiusSquare_
	Square of the radius for efficiency. More...
double	resolution_

Detailed Description

Iterator class to iterate through a circular area of the map with a spiral.

Definition at line 20 of file spiral_iterator.hpp.

Constructor & Destructor Documentation

cost_map::SpiralIterator::SpiralIterator	(	const cost_map::CostMap &	gridMap,
		const Eigen::Vector2d &	center,
		const double	radius
	)

Constructor.

Parameters

gridMap	the grid map to iterate on.
center	the position of the circle center.
radius	the radius of the circle.

Definition at line 17 of file spiral_iterator.cpp.

Member Function Documentation

void cost_map::SpiralIterator::generateRing ( )

private

Uses the current distance to get the points of a ring around the center.

Definition at line 80 of file spiral_iterator.cpp.

double cost_map::SpiralIterator::getCurrentRadius

(

)

const

Gets the radius of current ring that is iterated through.

Returns

radius of the current ring that is used for iteration.

Definition at line 112 of file spiral_iterator.cpp.

bool cost_map::SpiralIterator::isInside ( const Index  index ) const

private

Check if index is inside the circle.

Returns

true if inside, false otherwise.

Definition at line 72 of file spiral_iterator.cpp.

bool cost_map::SpiralIterator::isPastEnd

(

)

const

Indicates if iterator is past end.

Returns

true if iterator is out of scope, false if end has not been reached.

Definition at line 67 of file spiral_iterator.cpp.

bool cost_map::SpiralIterator::operator!=

(

const SpiralIterator &

other

)

const

Compare to another iterator.

Returns

whether the current iterator points to a different address than the other one.

Definition at line 50 of file spiral_iterator.cpp.

const Eigen::Array2i & cost_map::SpiralIterator::operator*

(

)

const

Dereference the iterator with const.

Returns

the value to which the iterator is pointing.

Definition at line 55 of file spiral_iterator.cpp.

SpiralIterator & cost_map::SpiralIterator::operator++

(

)

Increase the iterator to the next element.

Returns

a reference to the updated iterator.

Definition at line 60 of file spiral_iterator.cpp.

SpiralIterator & cost_map::SpiralIterator::operator=

(

const SpiralIterator &

other

)

Assignment operator.

Parameters

iterator

the iterator to copy data from.

Returns

a reference to *this.

Definition at line 34 of file spiral_iterator.cpp.

int cost_map::SpiralIterator::signum ( const int  val )

inlineprivate

Definition at line 83 of file spiral_iterator.hpp.

Member Data Documentation

Size cost_map::SpiralIterator::bufferSize_

private

Definition at line 107 of file spiral_iterator.hpp.

Position cost_map::SpiralIterator::center_

private

Position of the circle center;.

Definition at line 88 of file spiral_iterator.hpp.

unsigned int cost_map::SpiralIterator::distance_

private

Definition at line 100 of file spiral_iterator.hpp.

Index cost_map::SpiralIterator::indexCenter_

private

Definition at line 89 of file spiral_iterator.hpp.

Length cost_map::SpiralIterator::mapLength_

private

Map information needed to get position from iterator.

Definition at line 104 of file spiral_iterator.hpp.

Position cost_map::SpiralIterator::mapPosition_

private

Definition at line 105 of file spiral_iterator.hpp.

unsigned int cost_map::SpiralIterator::nRings_

private

Number of rings into the circle is divided.

Definition at line 99 of file spiral_iterator.hpp.

std::vector<Index> cost_map::SpiralIterator::pointsRing_

private

Definition at line 101 of file spiral_iterator.hpp.

double cost_map::SpiralIterator::radius_

private

Radius of the circle.

Definition at line 93 of file spiral_iterator.hpp.

double cost_map::SpiralIterator::radiusSquare_

private

Square of the radius for efficiency.

Definition at line 96 of file spiral_iterator.hpp.

double cost_map::SpiralIterator::resolution_

private

Definition at line 106 of file spiral_iterator.hpp.

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The documentation for this class was generated from the following files:

• spiral_iterator.hpp
• spiral_iterator.cpp