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