TEST(GridMap, Move)
{
GridMap map;
map.setGeometry(Length(8.1, 5.1), 1.0, Position(0.0, 0.0)); // bufferSize(8, 5)
map.add("layer", 0.0);
map.setBasicLayers(map.getLayers());
std::vector<BufferRegion> regions;
map.move(Position(-3.0, -2.0), regions);
Index startIndex = map.getStartIndex();
EXPECT_EQ(3, startIndex(0));
EXPECT_EQ(2, startIndex(1));
EXPECT_FALSE(map.isValid(Index(0, 0))); // TODO Check entire map.
EXPECT_TRUE(map.isValid(Index(3, 2)));
EXPECT_FALSE(map.isValid(Index(2, 2)));
EXPECT_FALSE(map.isValid(Index(3, 1)));
EXPECT_TRUE(map.isValid(Index(7, 4)));
EXPECT_EQ(2, regions.size());
EXPECT_EQ(0, regions[0].getStartIndex()[0]);
EXPECT_EQ(0, regions[0].getStartIndex()[1]);
EXPECT_EQ(3, regions[0].getSize()[0]);
EXPECT_EQ(5, regions[0].getSize()[1]);
EXPECT_EQ(0, regions[1].getStartIndex()[0]);
EXPECT_EQ(0, regions[1].getStartIndex()[1]);
EXPECT_EQ(8, regions[1].getSize()[0]);
EXPECT_EQ(2, regions[1].getSize()[1]);
}
EllipseIterator::EllipseIterator(const GridMap& gridMap, const Position& center, const Length& length, const double rotation)
: center_(center)
{
semiAxisSquare_ = (0.5 * length).square();
double sinRotation = sin(rotation);
double cosRotation = cos(rotation);
transformMatrix_ << cosRotation, sinRotation, sinRotation, -cosRotation;
mapLength_ = gridMap.getLength();
mapPosition_ = gridMap.getPosition();
resolution_ = gridMap.getResolution();
bufferSize_ = gridMap.getSize();
bufferStartIndex_ = gridMap.getStartIndex();
Index submapStartIndex;
Index submapBufferSize;
findSubmapParameters(center, length, rotation, submapStartIndex, submapBufferSize);
internalIterator_ = std::shared_ptr<SubmapIterator>(new SubmapIterator(gridMap, submapStartIndex, submapBufferSize));
if(!isInside()) ++(*this);
}
