spiral_iterator.hpp

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#pragma once

#include <Eigen/Core>

// unique_ptr
#include <memory>
#include <vector>

#include "../cost_map.hpp"

namespace cost_map {

class SpiralIterator
{
public:

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

  SpiralIterator& operator =(const SpiralIterator& other);

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

  const Eigen::Array2i& operator *() const;

  SpiralIterator& operator ++();

  bool isPastEnd() const;

  double getCurrentRadius() const;

private:

  bool isInside(const Index index) const;

  void generateRing();

  int signum(const int val) {
      return (0 < val) - (val < 0);
  }

  Position center_;
  Index indexCenter_;


  double radius_;

  double radiusSquare_;

  unsigned int nRings_;
  unsigned int distance_;
  std::vector<Index> pointsRing_;

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

} /* namespace */