gazebo::rendering::Heightmap Class Reference

Rendering a terrain using heightmap information. More...

#include <rendering/rendering.hh>

Public Member Functions
	Heightmap (ScenePtr _scene)
	Constructor. More...
virtual	~Heightmap ()
	Destructor. More...
bool	Flatten (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1)
	Flatten the terrain based on a mouse press. More...
double	GetAvgHeight (Ogre::Vector3 _pos, double _brushSize)
	Get the average height around a point. More...
double	GetHeight (double _x, double _y, double _z=1000)
	Get the height at a location. More...
common::Image	GetImage () const
	Get the heightmap as an image. More...
Ogre::TerrainGroup::RayResult	GetMouseHit (CameraPtr _camera, math::Vector2i _mousePos)
	Calculate a mouse ray hit on the terrain. More...
Ogre::TerrainGroup *	GetOgreTerrain () const
	Get a pointer to the OGRE terrain group object. More...
void	Load ()
	Load the heightmap. More...
void	LoadFromMsg (ConstVisualPtr &_msg)
	Load the heightmap from a visual message. More...
bool	Lower (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1)
	Lower the terrain based on a mouse press. More...
bool	Raise (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1)
	Raise the terrain based on a mouse press. More...
void	SetWireframe (bool _show)
	Set the heightmap to render in wireframe mode. More...
bool	Smooth (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1)
	Smooth the terrain based on a mouse press. More...
void	SplitHeights (const std::vector< float > &_heightmap, int _n, std::vector< std::vector< float > > &_v)
	Split a terrain into subterrains. More...

Static Public Attributes
static const unsigned int	NumTerrainSubdivisions
	Number of pieces in which a terrain is subdivided for paging. More...

Detailed Description

Rendering a terrain using heightmap information.

Constructor & Destructor Documentation

gazebo::rendering::Heightmap::Heightmap

(

ScenePtr

_scene

)

Constructor.

Parameters

[in]

_scene

Pointer to the scene that will contain the heightmap

virtual gazebo::rendering::Heightmap::~Heightmap ( )

virtual

Destructor.

Member Function Documentation

bool gazebo::rendering::Heightmap::Flatten	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = 0.1
	)

Flatten the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns

True if the terrain was modified

double gazebo::rendering::Heightmap::GetAvgHeight	(	Ogre::Vector3	_pos,
		double	_brushSize
	)

Get the average height around a point.

Parameters

[in]	_pos	Position in world coordinates.
[in]	_brushSize	Controls the radius of effect.

double gazebo::rendering::Heightmap::GetHeight	(	double	_x,
		double	_y,
		double	_z = 1000
	)

Get the height at a location.

Parameters

[in]	_x	X location
[in]	_y	Y location
[in]	_z	Z location

Returns

The height at the specified location

common::Image gazebo::rendering::Heightmap::GetImage

(

)

const

Get the heightmap as an image.

Returns

An image that contains the terrain data.

Ogre::TerrainGroup::RayResult gazebo::rendering::Heightmap::GetMouseHit	(	CameraPtr	_camera,
		math::Vector2i	_mousePos
	)

Calculate a mouse ray hit on the terrain.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.

Returns

The result of the mouse ray hit.

Ogre::TerrainGroup* gazebo::rendering::Heightmap::GetOgreTerrain

(

)

const

Get a pointer to the OGRE terrain group object.

Returns

Pointer to the OGRE terrain.

void gazebo::rendering::Heightmap::Load

(

)

Load the heightmap.

void gazebo::rendering::Heightmap::LoadFromMsg

(

ConstVisualPtr &

_msg

)

Load the heightmap from a visual message.

Parameters

[in]

_msg

The visual message containing heightmap info

bool gazebo::rendering::Heightmap::Lower	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = 0.1
	)

Lower the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns

True if the terrain was modified

bool gazebo::rendering::Heightmap::Raise	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = 0.1
	)

Raise the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns

True if the terrain was modified

void gazebo::rendering::Heightmap::SetWireframe

(

bool

_show

)

Set the heightmap to render in wireframe mode.

Parameters

[in]

_show

True to render wireframe, false to render solid.

bool gazebo::rendering::Heightmap::Smooth	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = 0.1
	)

Smooth the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns

True if the terrain was modified

void gazebo::rendering::Heightmap::SplitHeights	(	const std::vector< float > &	_heightmap,
		int	_n,
		std::vector< std::vector< float > > &	_v
	)

Split a terrain into subterrains.

Parameters

[in]	_heightmap	Source vector of floats with the heights.
[in]	_n	Number of subterrains.
[out]	_v	Destination vector with the subterrains.

Member Data Documentation

const unsigned int gazebo::rendering::Heightmap::NumTerrainSubdivisions

static

Number of pieces in which a terrain is subdivided for paging.

---

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

• Heightmap.hh