line_iterator.hpp

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#pragma once

#include <Eigen/Core>
#include "../iterators/submap_iterator.hpp"
#include "../cost_map.hpp"

namespace cost_map {

class LineIterator
{
public:

  LineIterator(const cost_map::CostMap& gridMap, const Position& start, const Position& end);

  LineIterator(const cost_map::CostMap& gridMap, const Index& start, const Index& end);

  LineIterator& operator =(const LineIterator& other);

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

  const Index& operator *() const;

  LineIterator& operator ++();

  bool isPastEnd() const;

private:
   bool initialize(const cost_map::CostMap& cost_map, const Index& start, const Index& end);

   bool getIndexLimitedToMapRange(const cost_map::CostMap& cost_map, const Position& start,
                                  const Position& end, Index& index);

   void initializeIterationParameters();

  Index index_;

  Index start_;

  Index end_;

  unsigned int iCell_;

  unsigned int nCells_;

  Size increment1_, increment2_;
  int denominator_, numerator_, numeratorAdd_;

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

} /* namespace */