nav_grid_iterators: line.h Source File

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00001 /*
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00034 
00035 #ifndef NAV_GRID_ITERATORS_LINE_H
00036 #define NAV_GRID_ITERATORS_LINE_H
00037 
00038 #include <nav_grid_iterators/base_iterator.h>
00039 #include <nav_grid_iterators/line/abstract_line_iterator.h>
00040 #include <memory>
00041 
00042 namespace nav_grid_iterators
00043 {
00048 class Line : public BaseIterator<Line>
00049 {
00050 public:
00060   Line(const nav_grid::NavGridInfo* info, double x0, double y0, double x1, double y1,
00061        bool include_last_index = true, bool bresenham = true);
00062 
00067   Line(const Line& other);
00068 
00073   Line& operator=(const Line& other);
00074 
00077   Line begin() const override;
00078   Line end() const override;
00079   void increment() override;
00080   bool fieldsEqual(const Line& other) override;
00083 protected:
00096   Line(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double x0, double y0, double x1, double y1,
00097        bool include_last_index, bool bresenham, nav_grid::Index start_index, nav_grid::Index end_index);
00098 
00099   void constructIterator();
00100 
00104   bool inBounds(const nav_grid::SignedIndex& sindex);
00105 
00106   std::unique_ptr<AbstractLineIterator> internal_iterator_;
00107   double x0_, y0_, x1_, y1_;
00108   bool include_last_index_;
00109   bool bresenham_;
00110   int signed_width_, signed_height_;
00111   nav_grid::Index start_index_, end_index_;
00112 };
00113 }  // namespace nav_grid_iterators
00114 
00115 #endif  // NAV_GRID_ITERATORS_LINE_H