git commit -m "first commit"

2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
--- a/navigations/nav_grid_iterators/src/spiral.cpp
+++ b/navigations/nav_grid_iterators/src/spiral.cpp
@@ -0,0 +1,154 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <nav_grid_iterators/spiral.h>
+#include <nav_grid/coordinate_conversion.h>
+
+namespace nav_grid_iterators
+{
+Spiral::Spiral(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius)
+  : BaseIterator(info), center_x_(center_x), center_y_(center_y), distance_(0), start_index_(0, 0)
+{
+  radius_sq_ = radius * radius;
+  max_distance_ = ceil(radius / info->resolution);
+  loadRing();
+  index_ = **internal_iterator_;
+  start_index_ = index_;
+}
+
+Spiral::Spiral(const Spiral& other)
+  : Spiral(other.info_, other.index_, other.center_x_, other.center_y_, other.radius_sq_,
+           other.distance_, other.max_distance_, other.start_index_)
+{
+}
+
+Spiral::Spiral(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double center_x, double center_y,
+               double radius_sq, unsigned int distance, unsigned int max_distance,
+               const nav_grid::Index& start_index)
+  : BaseIterator(info, index), center_x_(center_x), center_y_(center_y), radius_sq_(radius_sq),
+    distance_(distance), max_distance_(max_distance), start_index_(start_index)
+{
+  loadRing();
+  if (distance_ < max_distance_)
+  {
+    index_ = **internal_iterator_;
+    start_index_ = index_;
+  }
+}
+
+Spiral& Spiral::operator=(const Spiral& other)
+{
+  info_ = other.info_;
+  index_ = other.index_;
+  center_x_ = other.center_x_;
+  center_y_ = other.center_y_;
+  radius_sq_ = other.radius_sq_;
+  distance_ = other.distance_;
+  max_distance_ = other.max_distance_;
+  start_index_ = other.start_index_;
+  loadRing();
+  if (distance_ < max_distance_)
+  {
+    index_ = **internal_iterator_;
+    start_index_ = index_;
+  }
+  return *this;
+}
+
+Spiral Spiral::begin() const
+{
+  return Spiral(info_, start_index_, center_x_, center_y_, radius_sq_, 0, max_distance_, start_index_);
+}
+
+Spiral Spiral::end() const
+{
+  return Spiral(info_, start_index_, center_x_, center_y_, radius_sq_, max_distance_ + 1, max_distance_,
+                start_index_);
+}
+
+void Spiral::increment()
+{
+  while (distance_ <= max_distance_)
+  {
+    ++(*internal_iterator_);
+    if (*internal_iterator_ == internal_iterator_->end())
+    {
+      ++distance_;
+      if (distance_ > max_distance_)
+      {
+        index_ = start_index_;
+        return;
+      }
+      loadRing();
+    }
+    index_ = **internal_iterator_;
+    if (isInside(index_.x, index_.y))
+    {
+      break;
+    }
+  }
+  if (distance_ > max_distance_)
+  {
+    index_ = start_index_;
+  }
+}
+
+bool Spiral::fieldsEqual(const Spiral& other)
+{
+  return center_x_ == other.center_x_ && center_y_ == other.center_y_ &&
+         radius_sq_ == other.radius_sq_ && distance_ == other.distance_;
+}
+
+void Spiral::loadRing()
+{
+  while (distance_ <= max_distance_)
+  {
+    internal_iterator_.reset(new CircleOutline(info_, center_x_, center_y_, distance_));
+
+    if (*internal_iterator_ != internal_iterator_->end())
+      break;
+    ++distance_;
+  }
+}
+
+bool Spiral::isInside(unsigned int x, unsigned int y) const
+{
+  double wx, wy;
+  gridToWorld(*info_, x, y, wx, wy);
+  double dx = wx - center_x_;
+  double dy = wy - center_y_;
+  return (dx * dx + dy * dy) < radius_sq_;
+}
+
+}  // namespace nav_grid_iterators