LineIterator.hpp

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/*
 * LineIterator.hpp
 *
 *  Created on: Nov 13, 2014
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include "grid_map_core/GridMap.hpp"
#include "grid_map_core/iterators/SubmapIterator.hpp"

#include <Eigen/Core>

namespace grid_map {

class LineIterator
{
public:

  LineIterator(const grid_map::GridMap& gridMap, const Position& start, const Position& end);

  LineIterator(const grid_map::GridMap& gridMap, const Index& start, const Index& end);

  bool operator !=(const LineIterator& other) const;

  const Index& operator *() const;

  LineIterator& operator ++();

  bool isPastEnd() const;

private:


  bool initialize(const grid_map::GridMap& gridMap, const Index& start, const Index& end);

  void initializeIterationParameters();

  static bool getIndexLimitedToMapRange(const grid_map::GridMap& gridMap, const Position& start,
                                 const Position& end, Index& index);

  Index index_;

  Index start_;

  Index end_;

  unsigned int iCell_ = 0;

  unsigned int nCells_ = 0;

  Size increment1_, increment2_;
  int denominator_{0}, numerator_{0}, numeratorAdd_{0};

  Length mapLength_;
  Position mapPosition_;
  double resolution_{NAN};
  Size bufferSize_;
  Index bufferStartIndex_;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace grid_map