circle_fill.h
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00001 /*
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00034 
00035 #ifndef NAV_GRID_ITERATORS_CIRCLE_FILL_H
00036 #define NAV_GRID_ITERATORS_CIRCLE_FILL_H
00037 
00038 #include <nav_grid_iterators/base_iterator.h>
00039 #include <nav_grid_iterators/sub_grid.h>
00040 #include <memory>
00041 
00042 namespace nav_grid_iterators
00043 {
00048 class CircleFill : public BaseIterator<CircleFill>
00049 {
00050 public:
00058   CircleFill(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius);
00059 
00064   CircleFill(const CircleFill& other);
00065 
00070   CircleFill& operator=(const CircleFill& other);
00071 
00074   CircleFill begin() const override;
00075   CircleFill end() const override;
00076   void increment() override;
00077   bool fieldsEqual(const CircleFill& other) override;
00080 protected:
00094   CircleFill(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double center_x, double center_y,
00095          double radius_sq, unsigned int min_x, unsigned int min_y, unsigned int width, unsigned int height,
00096          const nav_grid::Index& start_index);
00097 
00098 
00103   bool isInside(unsigned int x, unsigned int y) const;
00104 
00105   double center_x_, center_y_, radius_sq_;
00106   unsigned int min_x_, min_y_, width_, height_;
00107   nav_grid::Index start_index_;
00108   std::unique_ptr<SubGrid> internal_iterator_;
00109 };
00110 }  // namespace nav_grid_iterators
00111 
00112 
00113 #endif  // NAV_GRID_ITERATORS_CIRCLE_FILL_H


nav_grid_iterators
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autogenerated on Wed Jun 26 2019 20:09:45