layered_maps.h

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#ifndef LAYERED_MAPS_H
#define LAYERED_MAPS_H 

#include <memory>
#include <tuw_geometry/world_scoped_maps.h>

namespace tuw {

class LayeredMaps;
using LayeredMapsPtr     = std::shared_ptr<       LayeredMaps >;
using LayeredMapsCostPtr = std::shared_ptr< const LayeredMaps >;

class LayeredMaps : public WorldScopedMaps {
public:
    enum Interpolation {
        SIMPLE = 0,
        BILINEAR = 1
    };
    
    //special class member functions
    LayeredMaps ( );
    virtual ~LayeredMaps()                     = default;
    LayeredMaps           (const LayeredMaps&) = default;
    LayeredMaps& operator=(const LayeredMaps&) = default;
    LayeredMaps           (LayeredMaps&&)      = default;
    LayeredMaps& operator=(LayeredMaps&&)      = default;
    
    void initLayers  ( int width_pixel, int height_pixel, double min_x, double max_x, double min_y, double max_y, double rotation = 0 );
    void clearLayers  ();
    void clearLayer   ( const size_t& _layer );
    void resizeLayers ( const size_t& _n );
    size_t sizeLayers () const;
    
    cv::Mat&       mapLayer( const size_t& _layer );
    const cv::Mat& mapLayer( const size_t& _layer ) const;
    double   getVal  ( const size_t& _layer, const tuw::Point2D& _worldPos, Interpolation interpolationType = BILINEAR) const;
    
    void computeDistanceField ( cv::Mat& _mDst, std::vector< Point2D >& _pSrc, const double& _radius, bool _flipDistance  = false, bool connectPoints = false ) const;
    void computeDistanceField ( cv::Mat& _mDst,                cv::Mat& _mSrc, const double& _radius, bool _flipDistance  = false ) const;
    
protected:
    virtual void initLayers();
    
    
private:
    std::vector<cv::Mat> mapLayers_;
};
}
#endif // LAYERED_MAPS_H