HeightmapShape.hh
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1 /*
2  * Copyright (C) 2012-2015 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 /* Desc: Heightmap shape
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 8 May 2003
20  */
21 
22 #ifndef _HEIGHTMAPSHAPE_HH_
23 #define _HEIGHTMAPSHAPE_HH_
24 
25 #include <string>
26 #include <vector>
27 
30 #include "gazebo/common/Dem.hh"
31 #include "gazebo/math/Vector3.hh"
34 #include "gazebo/physics/Shape.hh"
35 #include "gazebo/util/system.hh"
36 
37 namespace gazebo
38 {
39  namespace physics
40  {
43 
49  {
52  public: explicit HeightmapShape(CollisionPtr _parent);
53 
55  public: virtual ~HeightmapShape();
56 
59  public: virtual void Load(sdf::ElementPtr _sdf);
60 
62  public: virtual void Init();
63 
66  public: virtual void SetScale(const math::Vector3 &_scale);
67 
70  public: std::string GetURI() const;
71 
74  public: math::Vector3 GetSize() const;
75 
78  public: math::Vector3 GetPos() const;
79 
84  public: math::Vector2i GetVertexCount() const;
85 
90  public: float GetHeight(int _x, int _y) const;
91 
94  public: void FillMsg(msgs::Geometry &_msg);
95 
98  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
99 
102  public: float GetMaxHeight() const;
103 
106  public: float GetMinHeight() const;
107 
110  public: int GetSubSampling() const;
111 
115  public: common::Image GetImage() const;
116 
123  private: int LoadTerrainFile(const std::string &_filename);
124 
125  #ifdef HAVE_GDAL
126  private: int LoadDEMAsTerrain(const std::string &_filename);
130  #endif
131 
135  private: int LoadImageAsTerrain(const std::string &_filename);
136 
139  private: void OnRequest(ConstRequestPtr &_msg);
140 
142  protected: std::vector<float> heights;
143 
146 
149 
151  protected: unsigned int vertSize;
152 
154  protected: bool flipY;
155 
157  protected: int subSampling;
158 
160  private: transport::NodePtr node;
161 
163  private: transport::SubscriberPtr requestSub;
164 
166  private: transport::PublisherPtr responsePub;
167 
169  private: std::string fileFormat;
170 
172  private: math::Vector3 heightmapSize;
173 
174  #ifdef HAVE_GDAL
175  private: common::Dem dem;
177  #endif
178  };
180  }
181 }
182 #endif
Definition: Dem.hh:42
int subSampling
The amount of subsampling. Default is 2.
Definition: HeightmapShape.hh:157
common::HeightmapData * heightmapData
HeightmapData used to generate the heights.
Definition: HeightmapShape.hh:148
HeightmapShape collision shape builds a heightmap from an image.
Definition: HeightmapShape.hh:48
unsigned int vertSize
Size of the height lookup table.
Definition: HeightmapShape.hh:151
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
Encapsulates a generic heightmap data file.
Definition: HeightmapData.hh:34
common::ImageHeightmap img
Image used to generate the heights.
Definition: HeightmapShape.hh:145
Generic integer x, y vector.
Definition: Vector2i.hh:39
Forward declarations for transport.
bool flipY
True to flip the heights along the y direction.
Definition: HeightmapShape.hh:154
Base class for all shapes.
Definition: Shape.hh:40
Encapsulates an image that will be interpreted as a heightmap.
Definition: ImageHeightmap.hh:37
default namespace for gazebo
std::vector< float > heights
Lookup table of heights.
Definition: HeightmapShape.hh:142
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:94
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Encapsulates an image.
Definition: Image.hh:68
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48