nav_grid.h

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#ifndef NAV_GRID_NAV_GRID_H
#define NAV_GRID_NAV_GRID_H

#include <nav_grid/nav_grid_info.h>
#include <nav_grid/index.h>
#include <string>

namespace nav_grid
{
template <typename T> class NavGrid
{
public:
  explicit NavGrid(const T default_value = T{}) : default_value_(default_value) {}

  virtual void reset() = 0;

  virtual T getValue(const unsigned int x, const unsigned int y) const = 0;

  virtual void setValue(const unsigned int x, const unsigned int y, const T& value) = 0;

  // Note: You may not be able to use these unless your deriving class declares using NavGrid<T>::operator() or
  // using NavGrid<T>::getValue
  T getValue(const Index& index) { return getValue(index.x, index.y); }
  T operator() (const unsigned int x, const unsigned int y) const { return getValue(x, y); }
  T operator() (const Index& index) const  { return getValue(index.x, index.y); }
  void setValue(const Index& index, const T& value) { setValue(index.x, index.y, value); }

  virtual void setInfo(const NavGridInfo& new_info) = 0;

  virtual void updateInfo(const NavGridInfo& new_info) { setInfo(new_info); }

  inline NavGridInfo getInfo() const { return info_; }

  void setDefaultValue(const T new_value)
  {
    default_value_ = new_value;
  }

  /*****************************************************************************************************
   * NavGridInfo accessor methods
   *****************************************************************************************************/
  inline unsigned int getWidth() const { return info_.width; }
  inline unsigned int getHeight() const { return info_.height; }
  inline double getResolution() const { return info_.resolution; }
  inline std::string getFrameId() const { return info_.frame_id; }
  inline double getOriginX() const { return info_.origin_x; }
  inline double getOriginY() const { return info_.origin_y; }

protected:
  NavGridInfo info_;
  T default_value_;
};

}  // namespace nav_grid

#endif  // NAV_GRID_NAV_GRID_H