gazebo::physics::HeightmapShape Class Reference

HeightmapShape collision shape builds a heightmap from an image. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::HeightmapShape:

Public Member Functions
	HeightmapShape (CollisionPtr _parent)
	Constructor.
virtual	~HeightmapShape ()
	Destructor.
void	FillMsg (msgs::Geometry &_msg)
	Fill a geometry message with this shape's data.
float	GetHeight (int _x, int _y)
	Get a height at a position.
float	GetMaxHeight () const
	Get the maximum height.
float	GetMinHeight () const
	Get the minimum height.
math::Vector3	GetPos () const
	Get the origin in world coordinate frame.
math::Vector3	GetSize () const
	Get the size in meters.
std::string	GetURI () const
	Get the URI of the heightmap image.
math::Vector2i	GetVertexCount () const
	Return the number of vertices, which equals the size of the image used to load the heightmap.
virtual void	Init ()
	Initialize the heightmap.
virtual void	Load (sdf::ElementPtr _sdf)
	Load the heightmap.
virtual void	ProcessMsg (const msgs::Geometry &_msg)
	Update the heightmap from a message.
Public Member Functions inherited from gazebo::physics::Shape
	Shape (CollisionPtr _parent)
	Constructor.
virtual	~Shape ()
	Destructor.
virtual void	FillShapeMsg (msgs::Geometry &_msg) GAZEBO_DEPRECATED
	Deprecated.
virtual void	GetInertial (double _mass, InertialPtr _inertial) const GAZEBO_DEPRECATED
	Deprecated.
virtual double	GetMass (double _density) const GAZEBO_DEPRECATED
	Deprecated.
Public Member Functions inherited from gazebo::physics::Base
	Base (BasePtr _parent)
	Constructor.
virtual	~Base ()
	Destructor.
void	AddChild (BasePtr _child)
	Add a child to this entity.
void	AddType (EntityType _type)
	Add a type specifier.
virtual void	Fini ()
	Finialize the object.
BasePtr	GetById (unsigned int _id) const
	Get a child or self by id.
BasePtr	GetByName (const std::string &_name)
	Get by name.
BasePtr	GetChild (unsigned int _i) const
	Get a child by index.
BasePtr	GetChild (const std::string &_name)
	Get a child by name.
unsigned int	GetChildCount () const
	Get the number of children.
unsigned int	GetId () const
	Return the ID of this entity.
std::string	GetName () const
	Return the name of the entity.
BasePtr	GetParent () const
	Get the parent.
int	GetParentId () const
	Return the ID of the parent.
bool	GetSaveable () const
	Get whether the object should be "saved", when the user selects to save the world to xml.
std::string	GetScopedName () const
	Return the name of this entity with the model scope world::model1::...::modelN::entityName.
virtual const sdf::ElementPtr	GetSDF ()
	Get the SDF values for the object.
unsigned int	GetType () const
	Get the full type definition.
const WorldPtr &	GetWorld () const
	Get the World this object is in.
bool	HasType (const EntityType &_t) const
	Returns true if this object's type definition has the given type.
bool	IsSelected () const
	True if the entity is selected by the user.
bool	operator== (const Base &_ent) const
	Returns true if the entities are the same.
void	Print (const std::string &_prefix)
	Print this object to screen via gzmsg.
virtual void	RemoveChild (unsigned int _id)
	Remove a child from this entity.
void	RemoveChild (const std::string &_name)
	Remove a child by name.
void	RemoveChildren ()
	Remove all children.
virtual void	Reset ()
	Reset the object.
virtual void	Reset (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's.
virtual void	SetName (const std::string &_name)
	Set the name of the entity.
void	SetParent (BasePtr _parent)
	Set the parent.
void	SetSaveable (bool _v)
	Set whether the object should be "saved", when the user selects to save the world to xml.
virtual bool	SetSelected (bool _show)
	Set whether this entity has been selected by the user through the gui.
void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to.
virtual void	Update ()
	Update the object.
virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values.

Protected Attributes
std::vector< float >	heights
	Lookup table of heights.
common::Image	img
	Image used to generate the heights.
math::Vector3	scale
	Scaling factor.
int	subSampling
	Level of subsampling.
unsigned int	vertSize
	Size of the height lookup table.
Protected Attributes inherited from gazebo::physics::Shape
CollisionPtr	collisionParent
	This shape's collision parent.
Protected Attributes inherited from gazebo::physics::Base
Base_V	children
	Children of this entity.
Base_V::iterator	childrenEnd
	End of the children vector.
BasePtr	parent
	Parent of this entity.
sdf::ElementPtr	sdf
	The SDF values for this object.
WorldPtr	world
	Pointer to the world.

Additional Inherited Members
Public Types inherited from gazebo::physics::Base
enum	EntityType {   BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004,   COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020,   JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200,   SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, SHAPE = 0x00002000,   BOX_SHAPE = 0x00004000, CYLINDER_SHAPE = 0x00008000, HEIGHTMAP_SHAPE = 0x00010000, MAP_SHAPE = 0x00020000,   MULTIRAY_SHAPE = 0x00040000, RAY_SHAPE = 0x00080000, PLANE_SHAPE = 0x00100000, SPHERE_SHAPE = 0x00200000,   TRIMESH_SHAPE = 0x00400000 }
	Unique identifiers for all entity types. More...

Detailed Description

HeightmapShape collision shape builds a heightmap from an image.

The supplied image must be square with N*N+1 pixels per side, where N is an integer.

Constructor & Destructor Documentation

gazebo::physics::HeightmapShape::HeightmapShape ( CollisionPtr  _parent )

explicit

Constructor.

Parameters

[in]

_parent

Parent Collision object.

virtual gazebo::physics::HeightmapShape::~HeightmapShape ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::HeightmapShape::FillMsg ( msgs::Geometry &  _msg )

virtual

Fill a geometry message with this shape's data.

Parameters

[in]

_msg

Message to fill.

Implements gazebo::physics::Shape.

float gazebo::physics::HeightmapShape::GetHeight	(	int	_x,
		int	_y
	)

Get a height at a position.

Parameters

[in]	_x	X position.
[in]	_y	Y position.

Returns

The height at a the specified location.

float gazebo::physics::HeightmapShape::GetMaxHeight

(

)

const

Get the maximum height.

Returns

The maximum height.

float gazebo::physics::HeightmapShape::GetMinHeight

(

)

const

Get the minimum height.

Returns

The minimum height.

math::Vector3 gazebo::physics::HeightmapShape::GetPos

(

)

const

Get the origin in world coordinate frame.

Returns

The origin in world coordinate frame.

math::Vector3 gazebo::physics::HeightmapShape::GetSize

(

)

const

Get the size in meters.

Returns

The size in meters.

std::string gazebo::physics::HeightmapShape::GetURI

(

)

const

Get the URI of the heightmap image.

Returns

The heightmap image URI.

math::Vector2i gazebo::physics::HeightmapShape::GetVertexCount

(

)

const

Return the number of vertices, which equals the size of the image used to load the heightmap.

Returns

math::Vector2i, result.x = width, result.y = length/height.

virtual void gazebo::physics::HeightmapShape::Init ( )

virtual

Initialize the heightmap.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::HeightmapShape::Load ( sdf::ElementPtr  _sdf )

virtual

Load the heightmap.

Parameters

[in]

_sdf

SDF value to load from.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::HeightmapShape::ProcessMsg ( const msgs::Geometry &  _msg )

virtual

Update the heightmap from a message.

Parameters

[in]

_msg

Message to update from.

Implements gazebo::physics::Shape.

Member Data Documentation

std::vector<float> gazebo::physics::HeightmapShape::heights

protected

Lookup table of heights.

common::Image gazebo::physics::HeightmapShape::img

protected

Image used to generate the heights.

math::Vector3 gazebo::physics::HeightmapShape::scale

protected

Scaling factor.

int gazebo::physics::HeightmapShape::subSampling

protected

Level of subsampling.

unsigned int gazebo::physics::HeightmapShape::vertSize

protected

Size of the height lookup table.

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The documentation for this class was generated from the following file:

• HeightmapShape.hh