bresenham.h

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#ifndef NAV_GRID_ITERATORS_LINE_BRESENHAM_H
#define NAV_GRID_ITERATORS_LINE_BRESENHAM_H

#include <nav_grid_iterators/line/abstract_line_iterator.h>

namespace nav_grid_iterators
{
class Bresenham : public AbstractLineIterator
{
public:
  Bresenham(int x0, int y0, int x1, int y1, bool include_last_index = true);

  bool operator==(const Bresenham& other)
  {
    return x0_ == other.x0_ && y0_ == other.y0_ && x1_ == other.x1_ && y1_ == other.y1_ && index_ == other.index_;
  }

  bool operator!=(const Bresenham& other) { return !(*this == other); }

  Bresenham begin() const;

  Bresenham end() const;

  nav_grid::SignedIndex getFinalIndex() const override;
  void increment() override;

  Bresenham& operator++()
  {
    increment();
    return *this;
  }

  using self_type = Bresenham;
  using value_type = nav_grid::SignedIndex;
  using reference = nav_grid::SignedIndex&;
  using pointer = nav_grid::SignedIndex*;
  using iterator_category = std::input_iterator_tag;
  using difference_type = int;

protected:
  Bresenham(const nav_grid::SignedIndex& index,
       int x0, int y0, int x1, int y1, bool include_last_index,
       int error_inc_x, int loop_inc_x, int error_inc_y, int loop_inc_y,
       int denominator, int numerator, int numerator_inc);


  int x0_, y0_, x1_, y1_;
  bool include_last_index_;
  int error_inc_x_, loop_inc_x_, error_inc_y_, loop_inc_y_;
  int denominator_, numerator_, numerator_inc_;
};


}  // namespace nav_grid_iterators

#endif  // NAV_GRID_ITERATORS_LINE_BRESENHAM_H