HeightmapShape.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_PHYSICS_HEIGHTMAPSHAPE_HH_
#define GAZEBO_PHYSICS_HEIGHTMAPSHAPE_HH_

#include <string>
#include <vector>
#include <ignition/transport/Node.hh>

#include <ignition/math/Vector2.hh>

#include "gazebo/common/ImageHeightmap.hh"
#include "gazebo/common/HeightmapData.hh"
#include "gazebo/common/Dem.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/Shape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE HeightmapShape : public Shape
    {
      public: typedef float HeightType;

      public: explicit HeightmapShape(CollisionPtr _parent);

      public: virtual ~HeightmapShape();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual void Init();

      public: virtual void SetScale(const ignition::math::Vector3d &_scale);

      public: std::string GetURI() const;

      public: ignition::math::Vector3d Size() const;

      public: ignition::math::Vector3d Pos() const;

      public: ignition::math::Vector2i VertexCount() const;

      public: HeightType GetHeight(int _x, int _y) const;

      public: void FillMsg(msgs::Geometry &_msg);

      public: void FillHeights(msgs::Geometry &_msg) const;

      public: virtual void ProcessMsg(const msgs::Geometry &_msg);

      public: virtual double ComputeVolume() const;

      public: HeightType GetMaxHeight() const;

      public: HeightType GetMinHeight() const;

      public: int GetSubSampling() const;

      public: common::Image GetImage() const;

      private: int LoadTerrainFile(const std::string &_filename);

      private: void OnRequest(ConstRequestPtr &_msg);

      public: void FillHeightfield(std::vector<float>& heights);

      public: void FillHeightfield(std::vector<double>& heights);

      protected: std::vector<HeightType> heights;

      protected: common::ImageHeightmap img;

      protected: common::HeightmapData *heightmapData;

      protected: unsigned int vertSize;

      protected: bool flipY;

      protected: int subSampling;

      private: transport::NodePtr node;

      private: transport::SubscriberPtr requestSub;

      private: transport::PublisherPtr responsePub;

      private: std::string fileFormat;

      private: ignition::math::Vector3d heightmapSize;

      #ifdef HAVE_GDAL
      private: common::Dem dem;
      #endif

      // Place ignition::transport objects at the end of this file to
      // guarantee they are destructed first.

      private: ignition::transport::Node nodeIgn;

      private: ignition::transport::Node::Publisher responsePubIgn;
    };
  }
}
#endif