StepSequence.hpp

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#ifndef AIKIDO_COMMON_STEPSEQUENCE_HPP_
#define AIKIDO_COMMON_STEPSEQUENCE_HPP_
 
#include <cassert>
#include <limits>
#include <tuple>
 
#include <boost/iterator/iterator_facade.hpp>
 
namespace aikido {
namespace common {
 
class StepSequence
{
public:
  class const_iterator;
 
  StepSequence(
      double stepSize,
      bool includeStartpoint = true,
      bool includeEndpoint = true,
      double startPoint = 0.0,
      double endPoint = 1.0);
 
  StepSequence(
      double startPoint,
      double endPoint,
      std::size_t numSteps,
      bool includeEndpoint = true);
 
  const_iterator begin() const;
 
  const_iterator end() const;
 
  double operator[](std::size_t n) const;
 
  std::size_t getLength() const;
 
private:
  void updateNumSteps();
 
  void updateStepSize();
 
  double mStepSize;
 
  const bool mIncludeStartPoint;
 
  const bool mIncludeEndPoint;
 
  const double mStartPoint;
 
  const double mEndPoint;
 
  std::size_t mNumSteps;
};
 
class StepSequence::const_iterator
  : public boost::iterator_facade<
        StepSequence::const_iterator,
        double,
        boost::forward_traversal_tag,
        double>
{
public:
  double dereference() const;
 
  void increment();
 
  bool equal(const StepSequence::const_iterator& other) const;
 
private:
  friend class StepSequence;
 
  const_iterator(const StepSequence& seq, std::size_t step);
 
  const StepSequence& mSeq;
 
  std::size_t mStep;
 
  double mValue;
};
 
} // namespace common
} // namespace aikido
 
#endif // AIKIDO_COMMON_STEPSEQUENCE_HPP_