SubmapGeometry.hpp

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/*
 * SubmapGeometry.hpp
 *
 *  Created on: Aug 18, 2015
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include <grid_map_core/GridMap.hpp>

namespace grid_map {

class GridMap;

class SubmapGeometry
{
 public:

  SubmapGeometry(const GridMap& gridMap, const Position& position, const Length& length,
                 bool& isSuccess);

  virtual ~SubmapGeometry();

  const GridMap& getGridMap() const;
  const Length& getLength() const;
  const Position& getPosition() const;
  const Index& getRequestedIndexInSubmap() const;
  const Size& getSize() const;
  double getResolution() const;
  const Index& getStartIndex() const;

 private:

  const GridMap& gridMap_;

  Index startIndex_;

  Size size_;

  Position position_;

  Length length_;

  Index requestedIndexInSubmap_;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} /* namespace grid_map */