E* Interpolated Graph Replanner Wed Dec 12 18:55:40 2007
00001 /* 00002 * Copyright (C) 2006 00003 * Swiss Federal Institute of Technology, Zurich. All rights reserved. 00004 * 00005 * Author: Roland Philippsen <roland dot philippsen at gmx net> 00006 * Autonomous Systems Lab <http://www.asl.ethz.ch/> 00007 * 00008 * This program is free software; you can redistribute it and/or modify 00009 * it under the terms of the GNU General Public License as published by 00010 * the Free Software Foundation; either version 2 of the License, or 00011 * (at your option) any later version. 00012 * 00013 * This program is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 * GNU General Public License for more details. 00017 * 00018 * You should have received a copy of the GNU General Public License 00019 * along with this program; if not, write to the Free Software 00020 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 00021 * USA 00022 */ 00023 00024 00025 #ifndef ESTAR_REGION_HPP 00026 #define ESTAR_REGION_HPP 00027 00028 00029 #include <estar/Sprite.hpp> 00030 #include <boost/shared_ptr.hpp> 00031 00032 00033 namespace estar { 00034 00035 00039 class Region 00040 { 00041 public: 00042 typedef Sprite::sindex sindex; 00043 typedef Sprite::indexlist_t indexlist_t; 00044 00045 const double x0; 00046 const double y0; 00047 00049 Region(boost::shared_ptr<Sprite> sprite, 00051 double x0, 00053 double y0, 00054 ssize_t xbegin, 00055 ssize_t xend, 00056 ssize_t ybegin, 00057 ssize_t yend); 00058 00060 Region( 00061 double radius, 00063 double scale, 00065 double x0, 00067 double y0, 00068 ssize_t xbegin, 00069 ssize_t xend, 00070 ssize_t ybegin, 00071 ssize_t yend); 00072 00073 const Sprite & GetSprite() const { return * m_sprite; } 00074 const indexlist_t & GetBorder() const { return m_border; } 00075 const indexlist_t & GetArea() const { return m_area; } 00076 00077 private: 00078 boost::shared_ptr<Sprite> m_sprite; 00079 indexlist_t m_border; 00080 indexlist_t m_area; 00081 00082 void Init(double radius, double scale, 00083 double x0, double y0, 00084 ssize_t xbegin, ssize_t xend, 00085 ssize_t ybegin, ssize_t yend); 00086 }; 00087 00088 } 00089 00090 #endif // ESTAR_REGION_HPP