HeightmapData.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GAZEBO_COMMON_HEIGHTMAPDATA_HH_
#define GAZEBO_COMMON_HEIGHTMAPDATA_HH_

#include <string>
#include <vector>
#include <ignition/math/Vector3.hh>

#include "gazebo/gazebo_config.h"

#include "gazebo/common/CommonTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {

    class GZ_COMMON_VISIBLE HeightmapData
    {
      public: virtual ~HeightmapData() {}

      public: virtual void FillHeightMap(int _subSampling,
          unsigned int _vertSize, const ignition::math::Vector3d &_size,
          const ignition::math::Vector3d &_scale, bool _flipY,
          std::vector<float> &_heights) = 0;

      public: virtual unsigned int GetHeight() const = 0;

      public: virtual unsigned int GetWidth() const = 0;

      public: virtual float GetMaxElevation() const = 0;
    };

    class GZ_COMMON_VISIBLE HeightmapDataLoader
    {
      public: static HeightmapData *LoadTerrainFile(
          const std::string &_filename);

      private: static HeightmapData *LoadDEMAsTerrain(
          const std::string &_filename);

      private: static HeightmapData *LoadImageAsTerrain(
          const std::string &_filename);
    };
  }
}
#endif