gazebo::common::Dem Class Reference

#include <Dem.hh>

Inheritance diagram for gazebo::common::Dem:

Collaboration diagram for gazebo::common::Dem:

Public Member Functions
	Dem ()
	Constructor. More...
virtual	~Dem ()
	Destructor. More...
void	FillHeightMap (int _subSampling, unsigned int _vertSize, const math::Vector3 &_size, const math::Vector3 &_scale, bool _flipY, std::vector< float > &_heights)
	Create a lookup table of the terrain's height. More...
double	GetElevation (double _x, double _y)
	Get the elevation of a terrain's point in meters. More...
void	GetGeoReferenceOrigin (math::Angle &_latitude, math::Angle &_longitude)
	Get the georeferenced coordinates (lat, long) of the terrain's origin in WGS84. More...
unsigned int	GetHeight () const
	Get the terrain's height. More...
float	GetMaxElevation () const
	Get the terrain's maximum elevation in meters. More...
float	GetMinElevation () const
	Get the terrain's minimum elevation in meters. More...
unsigned int	GetWidth () const
	Get the terrain's width. More...
double	GetWorldHeight () const
	Get the real world height in meters. More...
double	GetWorldWidth () const
	Get the real world width in meters. More...
int	Load (const std::string &_filename="")
	Load a DEM file. More...
Public Member Functions inherited from gazebo::common::HeightmapData
virtual	~HeightmapData ()
	Destructor. More...

Constructor & Destructor Documentation

gazebo::common::Dem::Dem

(

)

Constructor.

virtual gazebo::common::Dem::~Dem ( )

virtual

Destructor.

Member Function Documentation

void gazebo::common::Dem::FillHeightMap ( int  _subSampling, unsigned int  _vertSize, const math::Vector3 &  _size, const math::Vector3 &  _scale, bool  _flipY, std::vector< float > &  _heights  )

virtual

Create a lookup table of the terrain's height.

Parameters

[in]	_subsampling	Multiplier used to increase the resolution. Ex: A subsampling of 2 in a terrain of 129x129 means that the height vector will be 257 * 257.
[in]	_vertSize	Number of points per row.
[in]	_size	Real dimmensions of the terrain in meters.
[in]	_scale	Vector3 used to scale the height.
[in]	_flipY	If true, it inverts the order in which the vector is filled.
[out]	_heights	Vector containing the terrain heights.

Implements gazebo::common::HeightmapData.

double gazebo::common::Dem::GetElevation	(	double	_x,
		double	_y
	)

Get the elevation of a terrain's point in meters.

Parameters

[in]	_x	X coordinate of the terrain.
[in]	_y	Y coordinate of the terrain.

Returns

Terrain's elevation at (x,y) in meters.

void gazebo::common::Dem::GetGeoReferenceOrigin	(	math::Angle &	_latitude,
		math::Angle &	_longitude
	)

Get the georeferenced coordinates (lat, long) of the terrain's origin in WGS84.

Parameters

[out]	_latitude	Georeferenced latitude.
[out]	_longitude	Georeferenced longitude.

unsigned int gazebo::common::Dem::GetHeight ( ) const

virtual

Get the terrain's height.

Due to the Ogre constrains, this value will be a power of two plus one. The value returned might be different that the original DEM height because GetData() adds the padding if necessary.

Returns

The terrain's height (points) satisfying the ogre constrains (squared terrain with a height value that must be a power of two plus one).

Implements gazebo::common::HeightmapData.

float gazebo::common::Dem::GetMaxElevation ( ) const

virtual

Get the terrain's maximum elevation in meters.

Returns

The maximum elevation (meters).

Implements gazebo::common::HeightmapData.

float gazebo::common::Dem::GetMinElevation

(

)

const

Get the terrain's minimum elevation in meters.

Returns

The minimum elevation (meters).

unsigned int gazebo::common::Dem::GetWidth ( ) const

virtual

Get the terrain's width.

Due to the Ogre constrains, this value will be a power of two plus one. The value returned might be different that the original DEM width because GetData() adds the padding if necessary.

Returns

The terrain's width (points) satisfying the ogre constrains (squared terrain with a width value that must be a power of two plus one).

Implements gazebo::common::HeightmapData.

double gazebo::common::Dem::GetWorldHeight

(

)

const

Get the real world height in meters.

Returns

Terrain's real world height in meters.

double gazebo::common::Dem::GetWorldWidth

(

)

const

Get the real world width in meters.

Returns

Terrain's real world width in meters.

int gazebo::common::Dem::Load

(

const std::string &

_filename = ""

)

Load a DEM file.

Parameters

[in]

_filename

the path to the terrain file.

Returns

0 when the operation succeeds to open a file.

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

• Dem.hh