circle_outline.h
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34 
35 #ifndef NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H
36 #define NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H
37 
39 
40 namespace nav_grid_iterators
41 {
42 
48 inline int signum(const int val)
49 {
50  return (0 < val) - (val < 0);
51 }
52 
57 class CircleOutline : public BaseIterator<CircleOutline>
58 {
59 public:
67  CircleOutline(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius);
68 
69 
77  CircleOutline(const nav_grid::NavGridInfo* info, double center_x, double center_y, unsigned int radius);
78 
81  CircleOutline begin() const override;
82  CircleOutline end() const override;
83  void increment() override;
84  bool fieldsEqual(const CircleOutline& other) override;
87 protected:
98  CircleOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, int center_index_x, int center_index_y,
99  unsigned int distance, bool init, const nav_grid::Index& start_index);
100 
101 
106  bool isValidIndex(int x, int y) const;
107 
112  bool isOnOutline(int dx, int dy) const;
113 
115  unsigned int distance_;
116  bool init_;
120 };
121 } // namespace nav_grid_iterators
122 
123 
124 #endif // NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H
bool isOnOutline(int dx, int dy) const
Check if a cell with the given distance from the center of the circle is on the outline of the circle...
TFSIMD_FORCE_INLINE tfScalar distance(const Vector3 &v) const
bool fieldsEqual(const CircleOutline &other) override
Additional check for whether fields of derived iterators are equal.
TFSIMD_FORCE_INLINE const tfScalar & y() const
bool isValidIndex(int x, int y) const
Check if arbitrary coordinates are within the grid.
TFSIMD_FORCE_INLINE const tfScalar & x() const
CircleOutline end() const override
Helper function for range-style iteration.
Iterates over the valid indexes that lie on the outline of a circle.
int signum(const int val)
returns the sign of a number
CircleOutline begin() const override
Helper function for range-style iteration Equivalent to the above constructor.
void increment() override
Increase the iterator to the next element.
CircleOutline(const nav_grid::NavGridInfo *info, double center_x, double center_y, double radius)
Public Constructor.


nav_grid_iterators
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autogenerated on Sun Jan 10 2021 04:08:42