line.h

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#ifndef NAV_GRID_ITERATORS_LINE_H
#define NAV_GRID_ITERATORS_LINE_H
 
#include <nav_grid_iterators/base_iterator.h>
#include <nav_grid_iterators/line/abstract_line_iterator.h>
#include <memory>
 
namespace nav_grid_iterators
{
class Line : public BaseIterator<Line>
{
public:
  Line(const nav_grid::NavGridInfo* info, double x0, double y0, double x1, double y1,
       bool include_last_index = true, bool bresenham = true);
 
  Line(const Line& other);
 
  Line& operator=(const Line& other);
 
  Line begin() const override;
  Line end() const override;
  void increment() override;
  bool fieldsEqual(const Line& other) override;
protected:
  Line(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double x0, double y0, double x1, double y1,
       bool include_last_index, bool bresenham, nav_grid::Index start_index, nav_grid::Index end_index);
 
  void constructIterator();
 
  bool inBounds(const nav_grid::SignedIndex& sindex);
 
  std::unique_ptr<AbstractLineIterator> internal_iterator_;
  double x0_, y0_, x1_, y1_;
  bool include_last_index_;
  bool bresenham_;
  int signed_width_, signed_height_;
  nav_grid::Index start_index_, end_index_;
};
}  // namespace nav_grid_iterators
 
#endif  // NAV_GRID_ITERATORS_LINE_H