grid_map::EllipseIterator Class Reference

#include <EllipseIterator.hpp>

Public Member Functions
	EllipseIterator (const GridMap &gridMap, const Position &center, const Length &length, double rotation=0.0)
const Size &	getSubmapSize () const
bool	isPastEnd () const
bool	operator!= (const EllipseIterator &other) const
const Index &	operator* () const
EllipseIterator &	operator++ ()

Private Member Functions
void	findSubmapParameters (const Position &center, const Length &length, 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

EllipseIterator()

grid_map::EllipseIterator::EllipseIterator	(	const GridMap &	gridMap,
		const Position &	center,
		const Length &	length,
		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 17 of file EllipseIterator.cpp.

Member Function Documentation

findSubmapParameters()

void grid_map::EllipseIterator::findSubmapParameters ( const Position &  center, const Length &  length, 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 82 of file EllipseIterator.cpp.

getSubmapSize()

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 69 of file EllipseIterator.cpp.

isInside()

bool grid_map::EllipseIterator::isInside ( ) const

private

Check if current index is inside the ellipse.

Returns

true if inside, false otherwise.

Definition at line 74 of file EllipseIterator.cpp.

isPastEnd()

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 64 of file EllipseIterator.cpp.

operator!=()

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 38 of file EllipseIterator.cpp.

operator*()

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 43 of file EllipseIterator.cpp.

operator++()

EllipseIterator & grid_map::EllipseIterator::operator++

(

)

Increase the iterator to the next element.

Returns

a reference to the updated iterator.

Definition at line 48 of file EllipseIterator.cpp.

Member Data Documentation

bufferSize_

Size grid_map::EllipseIterator::bufferSize_

private

Definition at line 102 of file EllipseIterator.hpp.

bufferStartIndex_

Index grid_map::EllipseIterator::bufferStartIndex_

private

Definition at line 103 of file EllipseIterator.hpp.

center_

Position grid_map::EllipseIterator::center_

private

Position of the circle center;.

Definition at line 87 of file EllipseIterator.hpp.

internalIterator_

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

private

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

Definition at line 96 of file EllipseIterator.hpp.

mapLength_

Length grid_map::EllipseIterator::mapLength_

private

Map information needed to get position from iterator.

Definition at line 99 of file EllipseIterator.hpp.

mapPosition_

Position grid_map::EllipseIterator::mapPosition_

private

Definition at line 100 of file EllipseIterator.hpp.

resolution_

double grid_map::EllipseIterator::resolution_

private

Definition at line 101 of file EllipseIterator.hpp.

semiAxisSquare_

Eigen::Array2d grid_map::EllipseIterator::semiAxisSquare_

private

Square length of the semi axis.

Definition at line 90 of file EllipseIterator.hpp.

transformMatrix_

Eigen::Matrix2d grid_map::EllipseIterator::transformMatrix_

private

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

Definition at line 93 of file EllipseIterator.hpp.

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

• EllipseIterator.hpp
• EllipseIterator.cpp