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HeightmapData.hh
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1 /*
2  * Copyright 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16 */
17 
18 #ifndef _GAZEBO_HEIGHTMAPDATA_HH_
19 #define _GAZEBO_HEIGHTMAPDATA_HH_
20 
21 #include <vector>
22 #include "gazebo/math/Vector3.hh"
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace common
28  {
31 
35  {
37  public: virtual ~HeightmapData() {}
38 
49  public: virtual void FillHeightMap(int _subSampling,
50  unsigned int _vertSize, const math::Vector3 &_size,
51  const math::Vector3 &_scale, bool _flipY,
52  std::vector<float> &_heights) = 0;
53 
56  public: virtual unsigned int GetHeight() const = 0;
57 
60  public: virtual unsigned int GetWidth() const = 0;
61 
64  public: virtual float GetMaxElevation() const = 0;
65  };
67  }
68 }
69 #endif