spiral.h

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#ifndef NAV_GRID_ITERATORS_SPIRAL_H
#define NAV_GRID_ITERATORS_SPIRAL_H

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

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

  Spiral(const Spiral& other);

  Spiral& operator=(const Spiral& other);

  Spiral begin() const override;
  Spiral end() const override;
  void increment() override;
  bool fieldsEqual(const Spiral& other) override;
protected:
  Spiral(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double center_x, double center_y,
         double radius_sq, unsigned int distance, unsigned int max_distance,
         const nav_grid::Index& start_index);

  void loadRing();

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

  double center_x_, center_y_, radius_sq_;
  unsigned int distance_, max_distance_;
  nav_grid::Index start_index_;
  std::unique_ptr<CircleOutline> internal_iterator_;
};
}  // namespace nav_grid_iterators


#endif  // NAV_GRID_ITERATORS_SPIRAL_H