polygon_iterator.hpp

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#pragma once

#include "../common.hpp"

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

namespace cost_map {

class PolygonIterator
{
public:

  PolygonIterator(const cost_map::CostMap& gridMap, const cost_map::Polygon& polygon);

  PolygonIterator& operator =(const PolygonIterator& other);

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

  const Index& operator *() const;

  PolygonIterator& operator ++();

  bool isPastEnd() const;

private:

  bool isInside() const;

  void findSubmapParameters(const cost_map::Polygon& polygon, Index& startIndex, Size& bufferSize) const;

  cost_map::Polygon polygon_;

  std::shared_ptr<SubmapIterator> internalIterator_;

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

} /* namespace */