grid_traversal.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// 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 SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__OCCUPANCY_GRID__GRID_TRAVERSAL_HPP_
#define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__OCCUPANCY_GRID__GRID_TRAVERSAL_HPP_
 
#include <cmath>
#include <cstdint>
#include <utility>
namespace simple_sensor_simulator
{
class GridTraversal
{
  using Index = std::pair<int32_t, int32_t>;
 
  struct Sentinel
  {
  };
 
  class Iterator
  {
  public:
    Iterator(const GridTraversal * parent, double tx, double ty, int32_t x, int32_t y);
 
    auto operator*() -> Index;
    auto operator++() -> Iterator &;
    auto operator!=(const Sentinel &) -> bool;
 
  private:
    const GridTraversal * parent_;
 
    double tx_, ty_;
    int32_t x_, y_;
  };
 
public:
  GridTraversal(double start_x, double start_y, double end_x, double end_y);
 
  auto begin() const -> Iterator;
  auto end() const -> Sentinel;
 
private:
  double start_x_, start_y_;
  double vx_, vy_;
 
  int32_t step_x_, step_y_;
  double tdx_, tdy_;
};
 
}  // namespace simple_sensor_simulator
 
#endif  // SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__OCCUPANCY_GRID__GRID_TRAVERSAL_HPP_