polygon_fill.h

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#ifndef NAV_GRID_ITERATORS_POLYGON_FILL_H
#define NAV_GRID_ITERATORS_POLYGON_FILL_H

#include <nav_grid_iterators/base_iterator.h>
#include <nav_grid_iterators/sub_grid.h>
#include <nav_2d_msgs/Polygon2D.h>
#include <memory>

namespace nav_grid_iterators
{
class PolygonFill : public BaseIterator<PolygonFill>
{
public:
  PolygonFill(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon);

  PolygonFill(const PolygonFill& other);

  PolygonFill& operator=(const PolygonFill& other);

  PolygonFill begin() const override;
  PolygonFill end() const override;
  void increment() override;
  bool fieldsEqual(const PolygonFill& other) override;
protected:
  PolygonFill(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, nav_2d_msgs::Polygon2D polygon,
              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;

  nav_2d_msgs::Polygon2D polygon_;
  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_POLYGON_FILL_H