SubmapIterator.hpp

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/*
 * SubmapIterator.hpp
 *
 *  Created on: Sep 12, 2014
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include "grid_map_core/GridMap.hpp"
#include "grid_map_core/SubmapGeometry.hpp"
#include "grid_map_core/BufferRegion.hpp"

#include <Eigen/Core>

namespace grid_map {

class SubmapIterator
{
public:

  SubmapIterator(const grid_map::SubmapGeometry& submap);

  SubmapIterator(const grid_map::GridMap& gridMap, const grid_map::BufferRegion& bufferRegion);

  SubmapIterator(const grid_map::GridMap& gridMap, const Index& submapStartIndex,
                 const Size& submapSize);

  SubmapIterator(const SubmapIterator* other);

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

  const Index& operator *() const;

  const Index& getSubmapIndex() const;

  SubmapIterator& operator ++();

  bool isPastEnd() const;

  const Size& getSubmapSize() const;

private:

  Size size_;

  Index startIndex_;

  Index index_;

  Size submapSize_;

  Index submapStartIndex_;

  Index submapIndex_;

  bool isPastEnd_;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace grid_map