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