polygon_outline.h

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#ifndef NAV_GRID_ITERATORS_POLYGON_OUTLINE_H
#define NAV_GRID_ITERATORS_POLYGON_OUTLINE_H

#include <nav_grid_iterators/base_iterator.h>
#include <nav_grid_iterators/line.h>
#include <nav_2d_msgs/Polygon2D.h>
#include <memory>

namespace nav_grid_iterators
{
class PolygonOutline : public BaseIterator<PolygonOutline>
{
public:
  PolygonOutline(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon, bool bresenham = true);

  PolygonOutline(const PolygonOutline& other);

  PolygonOutline& operator=(const PolygonOutline& other);

  PolygonOutline begin() const override;
  PolygonOutline end() const override;
  void increment() override;
  bool fieldsEqual(const PolygonOutline& other) override;
protected:
  PolygonOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, nav_2d_msgs::Polygon2D polygon,
                 bool bresenham, unsigned int side_index);

  void loadSide();

  std::unique_ptr<Line> internal_iterator_;
  nav_2d_msgs::Polygon2D polygon_;
  nav_grid::Index start_index_;
  bool bresenham_;
  unsigned int side_index_;
};
}  // namespace nav_grid_iterators

#endif  // NAV_GRID_ITERATORS_POLYGON_OUTLINE_H