SpiralIterator.hpp

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/*
 * SpiralIterator.hpp
 *
 *  Created on: Jul 7, 2015
 *      Author: Martin Wermelinger
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

#include "grid_map_core/GridMap.hpp"

#include <Eigen/Core>
#include <memory>
#include <vector>

namespace grid_map {

class SpiralIterator
{
public:

  SpiralIterator(const grid_map::GridMap& gridMap, Eigen::Vector2d  center, double radius);

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

  const Eigen::Array2i& operator *() const;

  SpiralIterator& operator ++();

  bool isPastEnd() const;

  double getCurrentRadius() const;

private:

  bool isInside(const Index& index) const;

  void generateRing();

  static int signum(const int val) {
      return static_cast<int>(0 < val) - static_cast<int>(val < 0);
  }

  Position center_;
  Index indexCenter_;


  double radius_;

  double radiusSquare_;

  unsigned int nRings_;
  unsigned int distance_;
  std::vector<Index> pointsRing_;

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

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace grid_map