Method getIndexLimitedToMapRange

grid_map_core/src/iterators/LineIterator.cpp:96–108

}

bool LineIterator::getIndexLimitedToMapRange(const grid_map::GridMap& gridMap,
                                             const Position& start, const Position& end,
                                             Index& index)
{
  Position newStart = start;
  Vector direction = (end - start).normalized();
  while (!gridMap.getIndex(newStart, index)) {
    newStart += (gridMap.getResolution() - std::numeric_limits<double>::epsilon()) * direction;
    if ((end - newStart).norm() < gridMap.getResolution() - std::numeric_limits<double>::epsilon())
      return false;
  }
  return true;
}

void LineIterator::initializeIterationParameters()
{