Method demoPolygonIterator

grid_map_demos/src/IteratorsDemo.cpp:175–214

}

void IteratorsDemo::demoPolygonIterator(const bool prepareForOtherDemos)
{
  ROS_INFO("Running polygon iterator demo.");
  map_.clearAll();
  if (prepareForOtherDemos) map_["type"].setZero();
  publish();

  grid_map::Polygon polygon;
  polygon.setFrameId(map_.getFrameId());
  polygon.addVertex(Position( 0.480,  0.000));
  polygon.addVertex(Position( 0.164,  0.155));
  polygon.addVertex(Position( 0.116,  0.500));
  polygon.addVertex(Position(-0.133,  0.250));
  polygon.addVertex(Position(-0.480,  0.399));
  polygon.addVertex(Position(-0.316,  0.000));
  polygon.addVertex(Position(-0.480, -0.399));
  polygon.addVertex(Position(-0.133, -0.250));
  polygon.addVertex(Position( 0.116, -0.500));
  polygon.addVertex(Position( 0.164, -0.155));
  polygon.addVertex(Position( 0.480,  0.000));

  geometry_msgs::PolygonStamped message;
  grid_map::PolygonRosConverter::toMessage(polygon, message);
  polygonPublisher_.publish(message);

  for (grid_map::PolygonIterator iterator(map_, polygon);
      !iterator.isPastEnd(); ++iterator) {
    map_.at("type", *iterator) = 1.0;
    if (!prepareForOtherDemos) {
      publish();
      ros::Duration duration(0.02);
      duration.sleep();
    }
  }

  if (!prepareForOtherDemos) {
    ros::Duration duration(1.0);
    duration.sleep();
  }
}

void IteratorsDemo::demoSlidingWindowIterator()
{