polygon_outline.h
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34 
35 #ifndef NAV_GRID_ITERATORS_POLYGON_OUTLINE_H
36 #define NAV_GRID_ITERATORS_POLYGON_OUTLINE_H
37 
40 #include <nav_2d_msgs/Polygon2D.h>
41 
42 namespace nav_grid_iterators
43 {
48 class PolygonOutline : public BaseIterator<PolygonOutline>
49 {
50 public:
56  PolygonOutline(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon, bool bresenham = true);
57 
62  PolygonOutline(const PolygonOutline& other);
63 
69 
72  PolygonOutline begin() const override;
73  PolygonOutline end() const override;
74  void increment() override;
75  bool fieldsEqual(const PolygonOutline& other) override;
78 protected:
86  PolygonOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, nav_2d_msgs::Polygon2D polygon,
87  bool bresenham, unsigned int side_index);
88 
93  void loadSide();
94 
95  std::unique_ptr<Line> internal_iterator_;
96  nav_2d_msgs::Polygon2D polygon_;
98  bool bresenham_;
99  unsigned int side_index_;
100 };
101 } // namespace nav_grid_iterators
102 
103 #endif // NAV_GRID_ITERATORS_POLYGON_OUTLINE_H
std::unique_ptr< Line > internal_iterator_
void loadSide()
Given a new side index, loads the internal iterator. If there are no valid values in the internal ite...
Iterates over all of the valid indexes on the outline of a polygon.
bool fieldsEqual(const PolygonOutline &other) override
Additional check for whether fields of derived iterators are equal.
PolygonOutline(const nav_grid::NavGridInfo *info, nav_2d_msgs::Polygon2D polygon, bool bresenham=true)
Public Constructor.
nav_2d_msgs::Polygon2D polygon_
void increment() override
Increase the iterator to the next element.
PolygonOutline begin() const override
Helper function for range-style iteration Equivalent to the above constructor.
PolygonOutline & operator=(const PolygonOutline &other)
Assignment Operator Required to ensure unique_ptr is set properly.
PolygonOutline end() const override
Helper function for range-style iteration.


nav_grid_iterators
Author(s):
autogenerated on Wed Jun 26 2019 20:06:20