ellipse_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 EllipseIterator
{
public:

  EllipseIterator(const CostMap& gridMap, const Position& center, const Length& length, const double rotation = 0.0);

  EllipseIterator& operator =(const EllipseIterator& other);

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

  const Index& operator *() const;

  EllipseIterator& operator ++();

  bool isPastEnd() const;

private:

  bool isInside() const;

  void findSubmapParameters(const Position& center, const Length& length, const double rotation,
                            Index& startIndex, Size& bufferSize) const;

  Position center_;

  Eigen::Array2d semiAxisSquare_;

  Eigen::Matrix2d transformMatrix_;

  std::shared_ptr<SubmapIterator> internalIterator_;

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

} /* namespace */