line_iterator.hpp

// Copyright (c) 2012, Willow Garage, Inc.
// All rights reserved.
//
// Software License Agreement (BSD License 2.0)
//
// 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 Willow Garage, Inc. 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 OWNER 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.
 
#ifndef NAV2_UTIL__LINE_ITERATOR_HPP_
#define NAV2_UTIL__LINE_ITERATOR_HPP_
 
#include <stdlib.h>
 
namespace nav2_util
{
 
 
class LineIterator
{
public:
  LineIterator(int x0, int y0, int x1, int y1)
  : x0_(x0),
    y0_(y0),
    x1_(x1),
    y1_(y1),
    x_(x0),    // X and Y start of at first endpoint.
    y_(y0),
    deltax_(abs(x1 - x0)),
    deltay_(abs(y1 - y0)),
    curpixel_(0)
  {
    if (x1_ >= x0_) {                // The x-values are increasing
      xinc1_ = 1;
      xinc2_ = 1;
    } else {                      // The x-values are decreasing
      xinc1_ = -1;
      xinc2_ = -1;
    }
 
    if (y1_ >= y0_) {               // The y-values are increasing
      yinc1_ = 1;
      yinc2_ = 1;
    } else {                      // The y-values are decreasing
      yinc1_ = -1;
      yinc2_ = -1;
    }
 
    if (deltax_ >= deltay_) {        // There is at least one x-value for every y-value
      xinc1_ = 0;                  // Don't change the x when numerator >= denominator
      yinc2_ = 0;                  // Don't change the y for every iteration
      den_ = deltax_;
      num_ = deltax_ / 2;
      numadd_ = deltay_;
      numpixels_ = deltax_;         // There are more x-values than y-values
    } else {                      // There is at least one y-value for every x-value
      xinc2_ = 0;                  // Don't change the x for every iteration
      yinc1_ = 0;                  // Don't change the y when numerator >= denominator
      den_ = deltay_;
      num_ = deltay_ / 2;
      numadd_ = deltax_;
      numpixels_ = deltay_;         // There are more y-values than x-values
    }
  }
 
  bool isValid() const
  {
    return curpixel_ <= numpixels_;
  }
 
  void advance()
  {
    num_ += numadd_;              // Increase the numerator by the top of the fraction
    if (num_ >= den_) {           // Check if numerator >= denominator
      num_ -= den_;               // Calculate the new numerator value
      x_ += xinc1_;               // Change the x as appropriate
      y_ += yinc1_;               // Change the y as appropriate
    }
    x_ += xinc2_;                 // Change the x as appropriate
    y_ += yinc2_;                 // Change the y as appropriate
 
    curpixel_++;
  }
 
  int getX() const
  {
    return x_;
  }
 
  int getY() const
  {
    return y_;
  }
 
  int getX0() const
  {
    return x0_;
  }
 
  int getY0() const
  {
    return y0_;
  }
 
  int getX1() const
  {
    return x1_;
  }
 
  int getY1() const
  {
    return y1_;
  }
 
private:
  int x0_;  
  int y0_;  
  int x1_;  
  int y1_;  
 
  int x_;  
  int y_;  
 
  int deltax_;  
  int deltay_;  
 
  int curpixel_;  
 
  int xinc1_, xinc2_, yinc1_, yinc2_;
  int den_, num_, numadd_, numpixels_;
};
 
}  // end namespace nav2_util
 
#endif  // NAV2_UTIL__LINE_ITERATOR_HPP_