coordinate_conversion.h

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#ifndef NAV_GRID_COORDINATE_CONVERSION_H
#define NAV_GRID_COORDINATE_CONVERSION_H

#include <nav_grid/nav_grid_info.h>
#include <math.h>

namespace nav_grid
{
inline void gridToWorld(const NavGridInfo& info, int mx, int my, double& wx, double& wy)
{
  wx = info.origin_x + (mx + 0.5) * info.resolution;
  wy = info.origin_y + (my + 0.5) * info.resolution;
}

inline void worldToGrid(const NavGridInfo& info, double wx, double wy, double& mx, double& my)
{
  mx = (wx - info.origin_x) / info.resolution;
  my = (wy - info.origin_y) / info.resolution;
}

inline void worldToGrid(const NavGridInfo& info, double wx, double wy, int& mx, int& my)
{
  double dmx, dmy;
  worldToGrid(info, wx, wy, dmx, dmy);
  mx = static_cast<int>(floor(dmx));
  my = static_cast<int>(floor(dmy));
}

inline bool worldToGridBounded(const NavGridInfo& info, double wx, double wy, unsigned int& mx, unsigned int& my)
{
  double dmx, dmy;
  worldToGrid(info, wx, wy, dmx, dmy);

  bool valid = true;

  if (dmx < 0.0)
  {
    mx = 0;
    valid = false;
  }
  else if (dmx >= info.width)
  {
    mx = info.width - 1;
    valid = false;
  }
  else
  {
    mx = static_cast<unsigned int>(dmx);
  }

  if (dmy < 0.0)
  {
    my = 0;
    valid = false;
  }
  else if (dmy >= info.height)
  {
    my = info.height - 1;
    valid = false;
  }
  else
  {
    my = static_cast<unsigned int>(dmy);
  }

  return valid;
}

inline bool isWithinGrid(const NavGridInfo& info, double wx, double wy)
{
  wx -= info.origin_x;
  wy -= info.origin_y;
  return wx >= 0.0 &&
         wy >= 0.0 &&
         wx < info.width * info.resolution &&
         wy < info.height * info.resolution;
}



}  // namespace nav_grid

#endif  // NAV_GRID_COORDINATE_CONVERSION_H