EllipseIterator.hpp

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/*
 * EllipseIterator.hpp
 *
 *  Created on: Dec 2, 2015
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include "grid_map_core/GridMap.hpp"
#include "grid_map_core/iterators/SubmapIterator.hpp"

#include <Eigen/Core>

#include <memory>

namespace grid_map {

class EllipseIterator
{
public:

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

  bool operator !=(const EllipseIterator& other) const;

  const Index& operator *() const;

  EllipseIterator& operator ++();

  bool isPastEnd() const;

  const Size& getSubmapSize() const;

private:

  bool isInside() const;

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

  Position center_;

  Eigen::Array2d semiAxisSquare_;

  Eigen::Matrix2d transformMatrix_;

  std::shared_ptr<SubmapIterator> internalIterator_;

  Length mapLength_;
  Position mapPosition_;
  double resolution_;
  Size bufferSize_;
  Index bufferStartIndex_;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace grid_map