#include <EllipseIterator.hpp>

Public Member Functions
	EllipseIterator (const GridMap &gridMap, const Position &center, const Length &length, const double rotation=0.0)

const Size &	getSubmapSize () const

bool	isPastEnd () const

bool	operator!= (const EllipseIterator &other) const

const Index &	operator* () const

EllipseIterator &	operator++ ()

EllipseIterator &	operator= (const EllipseIterator &other)

Private Member Functions
void	findSubmapParameters (const Position &center, const Length &length, const double rotation, Index &startIndex, Size &bufferSize) const

bool	isInside () const

Private Attributes
Size	bufferSize_

Index	bufferStartIndex_

Position	center_
	Position of the circle center;. More...

std::shared_ptr< SubmapIterator >	internalIterator_
	Grid submap iterator. // TODO Think of using unique_ptr instead. More...

Length	mapLength_
	Map information needed to get position from iterator. More...

Position	mapPosition_

double	resolution_

Eigen::Array2d	semiAxisSquare_
	Square length of the semi axis. More...

Eigen::Matrix2d	transformMatrix_
	Sine and cosine values of the rotation angle as transformation matrix. More...

Detailed Description

Iterator class to iterate through a ellipsoid area of the map. The main axis of the ellipse are aligned with the map frame.

Definition at line 24 of file EllipseIterator.hpp.

Constructor & Destructor Documentation

grid_map::EllipseIterator::EllipseIterator	(	const GridMap &	gridMap,
		const Position &	center,
		const Length &	length,
		const double	rotation = `0.0`
	)

Constructor.

Parameters

gridMap	the grid map to iterate on.
center	the position of the ellipse center.
length	the length of the main axis.
angle	the rotation angle of the ellipse (in [rad]).

Definition at line 19 of file EllipseIterator.cpp.

Member Function Documentation

void grid_map::EllipseIterator::findSubmapParameters	(	const Position &	center,
		const Length &	length,
		const double	rotation,
		Index &	startIndex,
		Size &	bufferSize
	)		const

private

Finds the submap that fully contains the ellipse and returns the parameters.

Parameters

[in]	center	the position of the ellipse center.
[in]	length	the length of the main axis.
[in]	angle	the rotation angle of the ellipse (in [rad]).
[out]	startIndex	the start index of the submap.
[out]	bufferSize	the buffer size of the submap.

Definition at line 92 of file EllipseIterator.cpp.

const Size & grid_map::EllipseIterator::getSubmapSize ( ) const

Returns the size of the submap covered by the iterator.

Returns: the size of the submap covered by the iterator.

Definition at line 79 of file EllipseIterator.cpp.

bool grid_map::EllipseIterator::isInside ( ) const

private

Check if current index is inside the ellipse.

Returns: true if inside, false otherwise.

Definition at line 84 of file EllipseIterator.cpp.

bool grid_map::EllipseIterator::isPastEnd ( ) const

Indicates if iterator is past end.

Returns: true if iterator is out of scope, false if end has not been reached.

Definition at line 74 of file EllipseIterator.cpp.

bool grid_map::EllipseIterator::operator!= ( const EllipseIterator & other ) const

Compare to another iterator.

Returns: whether the current iterator points to a different address than the other one.

Definition at line 52 of file EllipseIterator.cpp.

const Eigen::Array2i & grid_map::EllipseIterator::operator* ( ) const

Dereference the iterator with const.

Returns: the value to which the iterator is pointing.

Definition at line 57 of file EllipseIterator.cpp.

EllipseIterator & grid_map::EllipseIterator::operator++ ( )

Increase the iterator to the next element.

Returns: a reference to the updated iterator.

Definition at line 62 of file EllipseIterator.cpp.

EllipseIterator & grid_map::EllipseIterator::operator= ( const EllipseIterator & other )

Assignment operator.

Parameters

iterator the iterator to copy data from.

Returns: a reference to *this.

Definition at line 38 of file EllipseIterator.cpp.

Member Data Documentation

Size grid_map::EllipseIterator::bufferSize_

private

Definition at line 109 of file EllipseIterator.hpp.

Index grid_map::EllipseIterator::bufferStartIndex_

private

Definition at line 110 of file EllipseIterator.hpp.

Position grid_map::EllipseIterator::center_

private

Position of the circle center;.

Definition at line 94 of file EllipseIterator.hpp.

std::shared_ptr<SubmapIterator> grid_map::EllipseIterator::internalIterator_

private

Grid submap iterator. // TODO Think of using unique_ptr instead.

Definition at line 103 of file EllipseIterator.hpp.

Length grid_map::EllipseIterator::mapLength_

private

Map information needed to get position from iterator.

Definition at line 106 of file EllipseIterator.hpp.

Position grid_map::EllipseIterator::mapPosition_

private

Definition at line 107 of file EllipseIterator.hpp.

double grid_map::EllipseIterator::resolution_

private

Definition at line 108 of file EllipseIterator.hpp.

Eigen::Array2d grid_map::EllipseIterator::semiAxisSquare_

private

Square length of the semi axis.

Definition at line 97 of file EllipseIterator.hpp.

Eigen::Matrix2d grid_map::EllipseIterator::transformMatrix_

private

Sine and cosine values of the rotation angle as transformation matrix.

Definition at line 100 of file EllipseIterator.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation