nav2_util::LineIterator Class Reference

An iterator implementing Bresenham Ray-Tracing. More...

#include <nav2_util/include/nav2_util/line_iterator.hpp>

Public Member Functions
	LineIterator (int x0, int y0, int x1, int y1)
	A constructor for LineIterator. More...
bool	isValid () const
	If the iterator is valid. More...
void	advance ()
	Advance iteration along the line.
int	getX () const
	Get current X value. More...
int	getY () const
	Get current Y value. More...
int	getX0 () const
	Get initial X value. More...
int	getY0 () const
	Get initial Y value. More...
int	getX1 () const
	Get terminal X value. More...
int	getY1 () const
	Get terminal Y value. More...

Detailed Description

An iterator implementing Bresenham Ray-Tracing.

Definition at line 46 of file line_iterator.hpp.

Constructor & Destructor Documentation

LineIterator()

nav2_util::LineIterator::LineIterator ( int  x0, int  y0, int  x1, int  y1  )

inline

A constructor for LineIterator.

Parameters

x0	Starting x
y0	Starting y
x1	Ending x
y1	Ending y

Definition at line 56 of file line_iterator.hpp.

Member Function Documentation

getX()

int nav2_util::LineIterator::getX ( ) const

inline

Get current X value.

Returns

X

Definition at line 130 of file line_iterator.hpp.

Referenced by nav2_route::CollisionMonitor::backoutValidEndPoint(), nav2_route::GoalIntentSearch::LoSCollisionChecker::isInCollision(), and nav2_route::CollisionMonitor::isInCollision().

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getX0()

int nav2_util::LineIterator::getX0 ( ) const

inline

Get initial X value.

Returns

X

Definition at line 148 of file line_iterator.hpp.

getX1()

int nav2_util::LineIterator::getX1 ( ) const

inline

Get terminal X value.

Returns

X

Definition at line 166 of file line_iterator.hpp.

getY()

int nav2_util::LineIterator::getY ( ) const

inline

Get current Y value.

Returns

Y

Definition at line 139 of file line_iterator.hpp.

Referenced by nav2_route::CollisionMonitor::backoutValidEndPoint(), nav2_route::GoalIntentSearch::LoSCollisionChecker::isInCollision(), and nav2_route::CollisionMonitor::isInCollision().

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getY0()

int nav2_util::LineIterator::getY0 ( ) const

inline

Get initial Y value.

Returns

Y

Definition at line 157 of file line_iterator.hpp.

getY1()

int nav2_util::LineIterator::getY1 ( ) const

inline

Get terminal Y value.

Returns

Y

Definition at line 175 of file line_iterator.hpp.

isValid()

bool nav2_util::LineIterator::isValid ( ) const

inline

If the iterator is valid.

Returns

bool If valid

Definition at line 104 of file line_iterator.hpp.

Referenced by nav2_route::CollisionMonitor::backoutValidEndPoint(), nav2_route::GoalIntentSearch::LoSCollisionChecker::isInCollision(), nav2_route::CollisionMonitor::isInCollision(), nav2_costmap_2d::FootprintCollisionChecker< CostmapT >::lineCost(), and nav2_route::CostmapScorer::score().

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The documentation for this class was generated from the following file:

• nav2_util/include/nav2_util/line_iterator.hpp