value_grid.hpp

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// Copyright 2023 Ekumen, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef BELUGA_SENSOR_DATA_VALUE_GRID_HPP
#define BELUGA_SENSOR_DATA_VALUE_GRID_HPP
 
#include <cstdint>
#include <utility>
#include <vector>
 
#include <beluga/sensor/data/linear_grid.hpp>
 
namespace beluga {
 
 
template <typename T>
class ValueGrid2 : public BaseLinearGrid2<ValueGrid2<T>> {
 public:
 
  explicit ValueGrid2(std::vector<T> data, std::size_t width, double resolution = 1.)
      : data_(std::move(data)), width_(width), height_(data_.size() / width), resolution_(resolution) {
    assert(data_.size() % width == 0);
  }
 
  [[nodiscard]] std::size_t width() const { return width_; }
 
  [[nodiscard]] std::size_t height() const { return height_; }
 
  [[nodiscard]] double resolution() const { return resolution_; }
 
  [[nodiscard]] std::size_t size() const { return data_.size(); }
 
  [[nodiscard]] const std::vector<T>& data() const { return data_; }
 
 private:
  std::vector<T> data_;
  std::size_t width_;
  std::size_t height_;
  double resolution_;
};
 
}  // namespace beluga
 
#endif