submap_geometry.hpp

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#pragma once

#include "common.hpp"

namespace cost_map {

class CostMap;

class SubmapGeometry
{
 public:

  SubmapGeometry(const CostMap& gridMap, const Position& position, const Length& length,
                 bool& isSuccess);

  virtual ~SubmapGeometry();

  const CostMap& getGridMap() const;
  const Length& getLength() const;
  const Position& getPosition() const;
  const Index& getRequestedIndexInSubmap() const;
  const Size& getSize() const;
  double getResolution() const;
  const Index& getStartIndex() const;

 private:

  const CostMap& gridMap_;

  Index startIndex_;

  Size size_;

  Position position_;

  Length length_;

  Index requestedIndexInSubmap_;
};

} /* namespace cost_map */