35 #ifndef NAV_GRID_VECTOR_NAV_GRID_H 36 #define NAV_GRID_VECTOR_NAV_GRID_H 60 data_.assign(this->
info_.
width * this->info_.height, this->default_value_);
76 std::vector<T> new_vector(new_info.
width * new_info.
height, this->default_value_);
77 unsigned int cols_to_move = std::min(this->
info_.
width, new_info.
width);
78 auto old_it =
data_.begin();
79 auto new_it = new_vector.begin();
81 for (
unsigned int row = 0; row < max_row; row++)
83 std::copy(old_it, old_it + cols_to_move, new_it);
85 new_it += new_info.
width;
87 data_.swap(new_vector);
94 this->
info_ = new_info;
110 if (this->
info_ == new_info)
123 int cell_ox, cell_oy;
127 int old_size_x =
static_cast<int>(this->
info_.
width);
128 int old_size_y =
static_cast<int>(this->
info_.
height);
131 int lower_left_x = std::min(std::max(cell_ox, 0), old_size_x);
132 int lower_left_y = std::min(std::max(cell_oy, 0), old_size_y);
133 int upper_right_x = std::min(std::max(cell_ox + static_cast<int>(new_info.
width), 0), old_size_x);
134 int upper_right_y = std::min(std::max(cell_oy + static_cast<int>(new_info.
height), 0), old_size_y);
136 unsigned int cell_size_x = upper_right_x - lower_left_x;
137 unsigned int cell_size_y = upper_right_y - lower_left_y;
140 std::vector<T> new_data(new_info.
width * new_info.
height, this->default_value_);
143 int start_x = lower_left_x - cell_ox;
144 int start_y = lower_left_y - cell_oy;
148 auto src_index =
data_.begin() + (lower_left_y * old_size_x + lower_left_x);
149 auto dest_index = new_data.begin() + (start_y * new_info.
width + start_x);
152 for (
unsigned int i = 0; i < cell_size_y; ++i)
154 std::copy(src_index, src_index + cell_size_x, dest_index);
156 dest_index += new_info.
width;
159 data_.swap(new_data);
171 void setValue(
const unsigned int x,
const unsigned int y,
const T& value)
override 176 T
getValue(
const unsigned int x,
const unsigned int y)
const override 203 inline unsigned int getIndex(
unsigned int mx,
unsigned int my)
const 214 inline unsigned int getIndex(
double x,
double y)
const 227 inline void indexToCells(
unsigned int index,
unsigned int& mx,
unsigned int& my)
const 239 #endif // NAV_GRID_VECTOR_NAV_GRID_H unsigned int getIndex(double x, double y) const
Given two world coordinates... compute the associated index.
T operator[](unsigned int i) const
void indexToCells(unsigned int index, unsigned int &mx, unsigned int &my) const
Given an index... compute the associated grid coordinates.
double origin_x
The origin defines the coordinates of minimum corner of cell (0,0) in the grid.
unsigned int getIndex(unsigned int mx, unsigned int my) const
Given two grid coordinates... compute the associated index.
void reset() override
Reset the contents of the grid to the default value.
void setInfo(const NavGridInfo &new_info) override
Change the info while attempting to keep the values associated with the grid coordinates.
void setValue(const unsigned int x, const unsigned int y, const T &value) override
set the value of the grid at (x,y)
void updateInfo(const NavGridInfo &new_info) override
Update the info while keeping the data geometrically in tact.
unsigned int size() const
Return the size of the vector. Equivalent to width * height.
void worldToGrid(const NavGridInfo &info, double wx, double wy, double &mx, double &my)
Convert from world coordinates to the precise (double) grid coordinates.
T getValue(const unsigned int x, const unsigned int y) const override
get the value of the grid at (x,y)
bool worldToGridBounded(const NavGridInfo &info, double wx, double wy, unsigned int &mx, unsigned int &my)
Convert from world coordinates to grid coordinates.