#include <ellipse_iterator.hpp>

Public Member Functions
	EllipseIterator (const CostMap &gridMap, const Position &center, const Length &length, const double rotation=0.0)

bool	isPastEnd () const

bool	operator!= (const EllipseIterator &other) const

const Index &	operator* () const

EllipseIterator &	operator++ ()

EllipseIterator &	operator= (const EllipseIterator &other)

Private Member Functions
void	findSubmapParameters (const Position &center, const Length &length, const double rotation, Index &startIndex, Size &bufferSize) const

bool	isInside () const

Private Attributes
Size	bufferSize_

Index	bufferStartIndex_

Position	center_
	Position of the circle center;. More...

std::shared_ptr< SubmapIterator >	internalIterator_
	Grid submap iterator. // TODO Think of using unique_ptr instead. More...

Length	mapLength_
	Map information needed to get position from iterator. More...

Position	mapPosition_

double	resolution_

Eigen::Array2d	semiAxisSquare_
	Square length of the semi axis. More...

Eigen::Matrix2d	transformMatrix_
	Sine and cosine values of the rotation angle as transformation matrix. More...

Detailed Description

Iterator class to iterate through a ellipsoid area of the map. The main axis of the ellipse are aligned with the map frame.

Definition at line 20 of file ellipse_iterator.hpp.

Constructor & Destructor Documentation

cost_map::EllipseIterator::EllipseIterator	(	const CostMap &	gridMap,
		const Position &	center,
		const Length &	length,
		const double	rotation = `0.0`
	)

Constructor.

Parameters

gridMap	the grid map to iterate on.
center	the position of the ellipse center.
length	the length of the main axis.
angle	the rotation angle of the ellipse (in [rad]).

Definition at line 17 of file src/lib/iterators/ellipse_iterator.cpp.

Member Function Documentation

void cost_map::EllipseIterator::findSubmapParameters	(	const Position &	center,
		const Length &	length,
		const double	rotation,
		Index &	startIndex,
		Size &	bufferSize
	)		const

private

Finds the submap that fully contains the ellipse and returns the parameters.

Parameters

[in]	center	the position of the ellipse center.
[in]	length	the length of the main axis.
[in]	angle	the rotation angle of the ellipse (in [rad]).
[out]	startIndex	the start index of the submap.
[out]	bufferSize	the buffer size of the submap.

Definition at line 85 of file src/lib/iterators/ellipse_iterator.cpp.

bool cost_map::EllipseIterator::isInside ( ) const

private

Check if current index is inside the ellipse.

Returns: true if inside, false otherwise.

Definition at line 77 of file src/lib/iterators/ellipse_iterator.cpp.

bool cost_map::EllipseIterator::isPastEnd ( ) const

Indicates if iterator is past end.

Returns: true if iterator is out of scope, false if end has not been reached.

Definition at line 72 of file src/lib/iterators/ellipse_iterator.cpp.

bool cost_map::EllipseIterator::operator!= ( const EllipseIterator & other ) const

Compare to another iterator.

Returns: whether the current iterator points to a different address than the other one.

Definition at line 50 of file src/lib/iterators/ellipse_iterator.cpp.

const Eigen::Array2i & cost_map::EllipseIterator::operator* ( ) const

Dereference the iterator with const.

Returns: the value to which the iterator is pointing.

Definition at line 55 of file src/lib/iterators/ellipse_iterator.cpp.

EllipseIterator & cost_map::EllipseIterator::operator++ ( )

Increase the iterator to the next element.

Returns: a reference to the updated iterator.

Definition at line 60 of file src/lib/iterators/ellipse_iterator.cpp.

EllipseIterator & cost_map::EllipseIterator::operator= ( const EllipseIterator & other )

Assignment operator.

Parameters

iterator the iterator to copy data from.

Returns: a reference to *this.

Definition at line 36 of file src/lib/iterators/ellipse_iterator.cpp.

Member Data Documentation

Size cost_map::EllipseIterator::bufferSize_

private

Definition at line 99 of file ellipse_iterator.hpp.

Index cost_map::EllipseIterator::bufferStartIndex_

private

Definition at line 100 of file ellipse_iterator.hpp.

Position cost_map::EllipseIterator::center_

private

Position of the circle center;.

Definition at line 84 of file ellipse_iterator.hpp.

std::shared_ptr<SubmapIterator> cost_map::EllipseIterator::internalIterator_

private

Grid submap iterator. // TODO Think of using unique_ptr instead.

Definition at line 93 of file ellipse_iterator.hpp.

Length cost_map::EllipseIterator::mapLength_

private

Map information needed to get position from iterator.

Definition at line 96 of file ellipse_iterator.hpp.

Position cost_map::EllipseIterator::mapPosition_

private

Definition at line 97 of file ellipse_iterator.hpp.

double cost_map::EllipseIterator::resolution_

private

Definition at line 98 of file ellipse_iterator.hpp.

Eigen::Array2d cost_map::EllipseIterator::semiAxisSquare_

private

Square length of the semi axis.

Definition at line 87 of file ellipse_iterator.hpp.

Eigen::Matrix2d cost_map::EllipseIterator::transformMatrix_

private

Sine and cosine values of the rotation angle as transformation matrix.

Definition at line 90 of file ellipse_iterator.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation