ray_trace.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2018, Locus Robotics
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the copyright holder nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  */
34 
35 #ifndef NAV_GRID_ITERATORS_LINE_RAY_TRACE_H
36 #define NAV_GRID_ITERATORS_LINE_RAY_TRACE_H
37 
39 
40 namespace nav_grid_iterators
41 {
47 {
48 public:
57  RayTrace(double x0, double y0, double x1, double y1, bool include_last_index = true);
58 
62  bool operator==(const RayTrace& other)
63  {
64  return x0_ == other.x0_ && y0_ == other.y0_ && x1_ == other.x1_ && y1_ == other.y1_ && index_ == other.index_;
65  }
66 
70  bool operator!=(const RayTrace& other) { return !(*this == other); }
71 
76  RayTrace begin() const;
77 
82  RayTrace end() const;
83 
84  nav_grid::SignedIndex getFinalIndex() const override;
85  void increment() override;
86 
92  {
93  increment();
94  return *this;
95  }
96 
101  using iterator_category = std::input_iterator_tag;
102  using difference_type = int;
103 
104 protected:
119  RayTrace(const nav_grid::SignedIndex& index,
120  double x0, double y0, double x1, double y1, bool include_last_index,
121  double dx, double dy, double initial_error, int loop_inc_x, int loop_inc_y);
122 
123 
124  double x0_, y0_, x1_, y1_;
128 };
129 
130 } // namespace nav_grid_iterators
131 
132 #endif // NAV_GRID_ITERATORS_LINE_RAY_TRACE_H
RayTrace & operator++()
Increase the iterator to the next element.
Definition: ray_trace.h:91
Abstract class for iterating over lines.
nav_grid::SignedIndex getFinalIndex() const override
Definition: ray_trace.cpp:142
Line Iterator with Ray Tracing (subpixel accuracy)
Definition: ray_trace.h:46
RayTrace begin() const
Helper function for range-style iteration.
Definition: ray_trace.cpp:108
RayTrace(double x0, double y0, double x1, double y1, bool include_last_index=true)
Public constructor.
Definition: ray_trace.cpp:41
bool operator!=(const RayTrace &other)
Test if two iterators are not equivalent - required for testing if iterator is at the end...
Definition: ray_trace.h:70
void increment() override
Increase the iterator to the next element.
Definition: ray_trace.cpp:128
RayTrace end() const
Helper function for range-style iteration.
Definition: ray_trace.cpp:114
std::input_iterator_tag iterator_category
Definition: ray_trace.h:101
GenericIndex< int > SignedIndex
bool operator==(const RayTrace &other)
Test if two iterators are equivalent.
Definition: ray_trace.h:62


nav_grid_iterators
Author(s):
autogenerated on Sun Jan 10 2021 04:08:42