SlidingWindowIterator.hpp

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/*
 * SlidingWindowIterator.hpp
 *
 *  Created on: Aug 17, 2017
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include "grid_map_core/GridMap.hpp"

#include "grid_map_core/iterators/GridMapIterator.hpp"

#include <Eigen/Core>

namespace grid_map {

class SlidingWindowIterator : public GridMapIterator
{
public:

  enum class EdgeHandling {
    INSIDE, // Only visit indices that are surrounded by a full window.
    CROP, // Crop data matrix with missing cells at edges.
    EMPTY, // Fill in missing edges with empty cells (NAN-value).
    MEAN // Fill in missing edges with MEAN of valid values.
  };

  SlidingWindowIterator(const GridMap& gridMap, const std::string& layer,
                        const EdgeHandling& edgeHandling = EdgeHandling::CROP,
                        size_t windowSize = 3);

  explicit SlidingWindowIterator(const SlidingWindowIterator* other);

  void setWindowLength(const GridMap& gridMap, double windowLength);

  SlidingWindowIterator& operator ++() override;

  Matrix getData() const;

private:
  void setup(const GridMap& gridMap);

  bool dataInsideMap() const;

  const EdgeHandling edgeHandling_;

  const Matrix& data_;

  size_t windowSize_;

  size_t windowMargin_{0};

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace grid_map