circle_outline.h

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#ifndef NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H
#define NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H

#include <nav_grid_iterators/base_iterator.h>

namespace nav_grid_iterators
{

inline int signum(const int val)
{
  return (0 < val) - (val < 0);
}

class CircleOutline : public BaseIterator<CircleOutline>
{
public:
  CircleOutline(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius);


  CircleOutline(const nav_grid::NavGridInfo* info, double center_x, double center_y, unsigned int radius);

  CircleOutline begin() const override;
  CircleOutline end() const override;
  void increment() override;
  bool fieldsEqual(const CircleOutline& other) override;
protected:
  CircleOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, int center_index_x, int center_index_y,
                unsigned int distance, bool init, const nav_grid::Index& start_index);


  bool isValidIndex(int x, int y) const;

  bool isOnOutline(int dx, int dy) const;

  int center_index_x_, center_index_y_;
  unsigned int distance_;
  bool init_;
  int signed_width_, signed_height_;
  int point_x_, point_y_;
  nav_grid::Index start_index_;
};
}  // namespace nav_grid_iterators


#endif  // NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H