circle_fill.h

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#ifndef NAV_GRID_ITERATORS_CIRCLE_FILL_H
#define NAV_GRID_ITERATORS_CIRCLE_FILL_H

#include <nav_grid_iterators/base_iterator.h>
#include <nav_grid_iterators/sub_grid.h>
#include <memory>

namespace nav_grid_iterators
{
class CircleFill : public BaseIterator<CircleFill>
{
public:
  CircleFill(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius);

  CircleFill(const CircleFill& other);

  CircleFill& operator=(const CircleFill& other);

  CircleFill begin() const override;
  CircleFill end() const override;
  void increment() override;
  bool fieldsEqual(const CircleFill& other) override;
protected:
  CircleFill(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double center_x, double center_y,
         double radius_sq, unsigned int min_x, unsigned int min_y, unsigned int width, unsigned int height,
         const nav_grid::Index& start_index);


  bool isInside(unsigned int x, unsigned int y) const;

  double center_x_, center_y_, radius_sq_;
  unsigned int min_x_, min_y_, width_, height_;
  nav_grid::Index start_index_;
  std::unique_ptr<SubGrid> internal_iterator_;
};
}  // namespace nav_grid_iterators


#endif  // NAV_GRID_ITERATORS_CIRCLE_FILL_H