StaticMapPlugin Class Reference

A plugin that creates a model with textured map images. More...

#include <StaticMapPlugin.hh>

Inherits WorldPlugin.

Public Types
typedef boost::shared_ptr< WorldPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	StaticMapPlugin ()
	Constructor. More...
std::string	GetFilename () const
	Get the name of the handler. More...
std::string	GetHandle () const
	Get the short name of the handler. More...
PluginType	GetType () const
	Returns the type of the plugin. More...
virtual void	Init ()
	Initialize the plugin. More...
virtual void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
	Load the plugin. More...
virtual void	Reset ()

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
void	LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...
void	LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

Protected Attributes
std::string	filename
	Path to the shared library file. More...
std::string	handleName
	Short name. More...
PluginType	type
	Type of plugin. More...

Detailed Description

A plugin that creates a model with textured map images.

Map tiles are downloaded using Google Static Maps API: https://developers.google.com/maps/documentation/static-maps The map tiles are used as texture images to create a map model in the world.

The plugin requires the following parameters:

Center (latitude and longitude) of map <world_size> Target size of world to cover (in meters). The plugin will fetch enough tiles to create a model that is larger than the specified size. <api_key> Google API keyoptional parameters: <model_name> Name of map model <pose> Pose of map model in the world <zoom> Zoom level from 0 (entire world) to 21+ (streets) <map_type> Type of map to use: roadmap, satellite, terrain, hybrid <tile_size> Size of map tiles in pixels. Max of 640 for standard usage (only standard usage is supported). See Google Static Maps API documentation for more details. <use_cache> Use model in gazebo model path if exists, otherwise recreate the model and save it in <HOME>/.gazebo/models

Member Typedef Documentation

TPtr

typedef boost::shared_ptr<WorldPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

StaticMapPlugin()

StaticMapPlugin

(

)

Constructor.

Member Function Documentation

Create()

static TPtr Create ( const std::string &  _filename, const std::string &  _name  )

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns

Shared Pointer to this class type

GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns

type of the plugin

Init()

virtual void Init ( )

virtual

Initialize the plugin.

Reimplemented from WorldPlugin.

Load()

virtual void Load ( physics::WorldPtr  _world, sdf::ElementPtr  _sdf  )

virtual

Load the plugin.

Parameters

[in]	_world	Pointer to world
[in]	_sdf	Pointer to the SDF configuration.

Implements WorldPlugin.

LoadParam() [1/2]

void LoadParam ( const sdf::ElementPtr &  _sdf, const std::string &  _name, V &  _target, V  _defaultValue = V()  ) const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

LoadParam() [2/2]

void LoadParam ( sdf::ElementPtr &  _sdf, const std::string &  _name, std::string &  _target, const char *  _defaultValue  ) const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

Reset()

virtual void Reset ( )

inlinevirtualinherited

Reimplemented in ArrangePlugin.

Member Data Documentation

filename

std::string filename

protectedinherited

Path to the shared library file.

handleName

std::string handleName

protectedinherited

Short name.

type

PluginType type

protectedinherited

Type of plugin.

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

• StaticMapPlugin.hh