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ImageHeightmap.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
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _IMAGE_HEIGHTMAP_DATA_HH_
19 #define _IMAGE_HEIGHTMAP_DATA_HH_
20 
21 #include <string>
22 #include <vector>
24 #include "gazebo/common/Image.hh"
25 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace common
31  {
34 
39  {
42  public: ImageHeightmap();
43 
47  public: int Load(const std::string &_filename="");
48 
49  // Documentation inherited.
50  public: void FillHeightMap(int _subSampling, unsigned int _vertSize,
51  const math::Vector3 &_size, const math::Vector3 &_scale, bool _flipY,
52  std::vector<float> &_heights);
53 
56  public: std::string GetFilename() const;
57 
58  // Documentation inherited.
59  public: unsigned int GetHeight() const;
60 
61  // Documentation inherited.
62  public: unsigned int GetWidth() const;
63 
64  // Documentation inherited.
65  public: float GetMaxElevation() const;
66 
68  private: gazebo::common::Image img;
69  };
71  }
72 }
73 #endif