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/sub_grid.cpp
+++ b/navigations/nav_grid_iterators/src/sub_grid.cpp
@@ -0,0 +1,93 @@
+/*
+ * 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/sub_grid.h>
+
+namespace nav_grid_iterators
+{
+SubGrid::SubGrid(const nav_grid::NavGridInfo* info, const nav_grid::Index& index,
+                 unsigned int min_x, unsigned int min_y,
+                 unsigned int width, unsigned int height)
+  : BaseIterator(info, index), min_x_(min_x), min_y_(min_y), width_(width), height_(height)
+{
+  // If the start coordinate is entirely off the grid or the size is 0
+  // we invalidate the entire iterator and give up immediately
+  if (min_x_ >= info->width || min_y_ >= info->height || width_ == 0 || height_ == 0)
+  {
+    index_ = nav_grid::Index(0, 0);
+    width_ = 0;
+    height_ = 0;
+    min_x_ = 0;
+    min_y_ = 0;
+    return;
+  }
+
+  // If the end coordinate is off the grid, we shorten the dimensions to
+  // cover the on-grid potion
+  if (min_x_ + width_ > info->width)
+  {
+    width_ = info->width - min_x_;
+  }
+  if (min_y_ + height_ > info->height)
+  {
+    height_ = info->height - min_y_;
+  }
+}
+
+SubGrid SubGrid::begin() const
+{
+  return SubGrid(info_, min_x_, min_y_, width_, height_);
+}
+
+SubGrid SubGrid::end() const
+{
+  return SubGrid(info_, nav_grid::Index(min_x_, min_y_ + height_), min_x_, min_y_, width_, height_);
+}
+
+void SubGrid::increment()
+{
+  ++index_.x;
+  if (index_.x >= min_x_ + width_)
+  {
+    index_.x = min_x_;
+    ++index_.y;
+  }
+}
+
+bool SubGrid::fieldsEqual(const SubGrid& other)
+{
+  return min_x_ == other.min_x_ && min_y_ == other.min_y_ && width_ == other.width_ && height_ == other.height_;
+}
+
+}  // namespace nav_grid_iterators