sub_grid.h

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#ifndef NAV_GRID_ITERATORS_SUB_GRID_H
#define NAV_GRID_ITERATORS_SUB_GRID_H

#include <nav_grid_iterators/base_iterator.h>
#include <nav_core2/bounds.h>

namespace nav_grid_iterators
{
class SubGrid : public BaseIterator<SubGrid>
{
public:
  SubGrid(const nav_grid::NavGridInfo* info, unsigned int min_x, unsigned int min_y,
          unsigned int width, unsigned int height)
    : SubGrid(info, nav_grid::Index(min_x, min_y), min_x, min_y, width, height) {}

  SubGrid(const nav_grid::NavGridInfo* info, const nav_core2::UIntBounds& bounds)
    : SubGrid(info, bounds.getMinX(), bounds.getMinY(), bounds.getWidth(), bounds.getHeight()) {}

  SubGrid(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, unsigned int min_x, unsigned int min_y,
          unsigned int width, unsigned int height);

  SubGrid(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, const nav_core2::UIntBounds& bounds)
    : SubGrid(info, index, bounds.getMinX(), bounds.getMinY(), bounds.getWidth(), bounds.getHeight()) {}

  SubGrid begin() const override;
  SubGrid end() const override;
  void increment() override;
  bool fieldsEqual(const SubGrid& other) override;
protected:
  unsigned int min_x_, min_y_, width_, height_;
};
}  // namespace nav_grid_iterators

#endif  // NAV_GRID_ITERATORS_SUB_GRID_H