HeightmapShape collision shape builds a heightmap from an image. More...
#include <physics/physics.hh>
Public Member Functions | |
| HeightmapShape (CollisionPtr _parent) | |
| Constructor. More... | |
| virtual | ~HeightmapShape () |
| Destructor. More... | |
| void | FillMsg (msgs::Geometry &_msg) |
| Fill a geometry message with this shape's data. More... | |
| float | GetHeight (int _x, int _y) const |
| Get a height at a position. More... | |
| common::Image | GetImage () const |
| Return an image representation of the heightmap. More... | |
| float | GetMaxHeight () const |
| Get the maximum height. More... | |
| float | GetMinHeight () const |
| Get the minimum height. More... | |
| math::Vector3 | GetPos () const |
| Get the origin in world coordinate frame. More... | |
| math::Vector3 | GetSize () const |
| Get the size in meters. More... | |
| int | GetSubSampling () const |
| Get the amount of subsampling. More... | |
| std::string | GetURI () const |
| Get the URI of the heightmap image. More... | |
| math::Vector2i | GetVertexCount () const |
| Return the number of vertices, which equals the size of the image used to load the heightmap. More... | |
| virtual void | Init () |
| Initialize the heightmap. More... | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load the heightmap. More... | |
| virtual void | ProcessMsg (const msgs::Geometry &_msg) |
| Update the heightmap from a message. More... | |
| virtual void | SetScale (const math::Vector3 &_scale) |
| Set the scale of the heightmap shape. More... | |
 Public Member Functions inherited from gazebo::physics::Shape | |
| Shape (CollisionPtr _parent) | |
| Constructor. More... | |
| virtual | ~Shape () |
| Destructor. More... | |
| virtual math::Vector3 | GetScale () const |
| Get the scale of the shape. More... | |
| Public Member Functions inherited from gazebo::physics::Base | |
| Base (BasePtr _parent) | |
| Constructor. More... | |
| virtual | ~Base () |
| Destructor. More... | |
| void | AddChild (BasePtr _child) |
| Add a child to this entity. More... | |
| void | AddType (EntityType _type) |
| Add a type specifier. More... | |
| virtual void | Fini () |
| Finialize the object. More... | |
| BasePtr | GetByName (const std::string &_name) |
| Get by name. More... | |
| BasePtr | GetChild (unsigned int _i) const |
| Get a child by index. More... | |
| BasePtr | GetChild (const std::string &_name) |
| Get a child by name. More... | |
| unsigned int | GetChildCount () const |
| Get the number of children. More... | |
| uint32_t | GetId () const |
| Return the ID of this entity. More... | |
| std::string | GetName () const |
| Return the name of the entity. More... | |
| BasePtr | GetParent () const |
| Get the parent. More... | |
| int | GetParentId () const |
| Return the ID of the parent. More... | |
| bool | GetSaveable () const |
| Get whether the object should be "saved", when the user selects to save the world to xml. More... | |
| std::string | GetScopedName (bool _prependWorldName=false) const |
| Return the name of this entity with the model scope model1::...::modelN::entityName. More... | |
| virtual const sdf::ElementPtr | GetSDF () |
| Get the SDF values for the object. More... | |
| unsigned int | GetType () const |
| Get the full type definition. More... | |
| const WorldPtr & | GetWorld () const |
| Get the World this object is in. More... | |
| bool | HasType (const EntityType &_t) const |
| Returns true if this object's type definition has the given type. More... | |
| bool | IsSelected () const |
| True if the entity is selected by the user. More... | |
| bool | operator== (const Base &_ent) const |
| Returns true if the entities are the same. More... | |
| void | Print (const std::string &_prefix) |
| Print this object to screen via gzmsg. More... | |
| virtual void | RemoveChild (unsigned int _id) |
| Remove a child from this entity. More... | |
| void | RemoveChild (const std::string &_name) |
| Remove a child by name. More... | |
| void | RemoveChildren () |
| Remove all children. More... | |
| virtual void | Reset () |
| Reset the object. More... | |
| virtual void | Reset (Base::EntityType _resetType) |
| Calls recursive Reset on one of the Base::EntityType's. More... | |
| virtual void | SetName (const std::string &_name) |
| Set the name of the entity. More... | |
| void | SetParent (BasePtr _parent) |
| Set the parent. More... | |
| void | SetSaveable (bool _v) |
| Set whether the object should be "saved", when the user selects to save the world to xml. More... | |
| virtual bool | SetSelected (bool _show) |
| Set whether this entity has been selected by the user through the gui. More... | |
| void | SetWorld (const WorldPtr &_newWorld) |
| Set the world this object belongs to. More... | |
| virtual void | Update () |
| Update the object. More... | |
| virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
| Update the parameters using new sdf values. More... | |
Protected Attributes | |
| bool | flipY |
| True to flip the heights along the y direction. More... | |
| common::HeightmapData * | heightmapData |
| HeightmapData used to generate the heights. More... | |
| std::vector< float > | heights |
| Lookup table of heights. More... | |
| common::ImageHeightmap | img |
| Image used to generate the heights. More... | |
| int | subSampling |
| The amount of subsampling. Default is 2. More... | |
| unsigned int | vertSize |
| Size of the height lookup table. More... | |
| Protected Attributes inherited from gazebo::physics::Shape | |
| CollisionPtr | collisionParent |
| This shape's collision parent. More... | |
| math::Vector3 | scale |
| This shape's scale;. More... | |
| Protected Attributes inherited from gazebo::physics::Base | |
| Base_V | children |
| Children of this entity. More... | |
| BasePtr | parent |
| Parent of this entity. More... | |
| sdf::ElementPtr | sdf |
| The SDF values for this object. More... | |
| WorldPtr | world |
| Pointer to the world. More... | |
Additional Inherited Members | |
| Public Types inherited from gazebo::physics::Base | |
| enum | EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020, JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200, SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, GEARBOX_JOINT = 0x00002000, SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000, HEIGHTMAP_SHAPE = 0x00080000, MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000, PLANE_SHAPE = 0x00800000, SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, POLYLINE_SHAPE = 0x04000000, SENSOR_COLLISION = 0x10000000 } |
| Unique identifiers for all entity types. More... | |
| Protected Member Functions inherited from gazebo::physics::Base | |
| void | ComputeScopedName () |
| Compute the scoped name of this object based on its parents. More... | |
HeightmapShape collision shape builds a heightmap from an image.
The supplied image must be square with N*N+1 pixels per side, where N is an integer.
|
explicit |
Constructor.
| [in] | _parent | Parent Collision object. |
|
virtual |
Destructor.
|
virtual |
Fill a geometry message with this shape's data.
| [in] | _msg | Message to fill. |
Implements gazebo::physics::Shape.
| float gazebo::physics::HeightmapShape::GetHeight | ( | int | _x, |
| int | _y | ||
| ) | const |
Get a height at a position.
| [in] | _x | X position. |
| [in] | _y | Y position. |
| common::Image gazebo::physics::HeightmapShape::GetImage | ( | ) | const |
Return an image representation of the heightmap.
| float gazebo::physics::HeightmapShape::GetMaxHeight | ( | ) | const |
Get the maximum height.
| float gazebo::physics::HeightmapShape::GetMinHeight | ( | ) | const |
Get the minimum height.
| math::Vector3 gazebo::physics::HeightmapShape::GetPos | ( | ) | const |
Get the origin in world coordinate frame.
| math::Vector3 gazebo::physics::HeightmapShape::GetSize | ( | ) | const |
Get the size in meters.
| int gazebo::physics::HeightmapShape::GetSubSampling | ( | ) | const |
Get the amount of subsampling.
| std::string gazebo::physics::HeightmapShape::GetURI | ( | ) | const |
Get the URI of the heightmap image.
| math::Vector2i gazebo::physics::HeightmapShape::GetVertexCount | ( | ) | const |
Return the number of vertices, which equals the size of the image used to load the heightmap.
|
virtual |
Initialize the heightmap.
Implements gazebo::physics::Shape.
Reimplemented in gazebo::physics::BulletHeightmapShape, gazebo::physics::ODEHeightmapShape, gazebo::physics::SimbodyHeightmapShape, and gazebo::physics::DARTHeightmapShape.
|
virtual |
Load the heightmap.
| [in] | _sdf | SDF value to load from. |
Reimplemented from gazebo::physics::Base.
|
virtual |
Update the heightmap from a message.
| [in] | _msg | Message to update from. |
Implements gazebo::physics::Shape.
|
virtual |
Set the scale of the heightmap shape.
| [in] | _scale | Scale to set the heightmap shape to. |
Implements gazebo::physics::Shape.
|
protected |
True to flip the heights along the y direction.
|
protected |
HeightmapData used to generate the heights.
|
protected |
Lookup table of heights.
|
protected |
Image used to generate the heights.
|
protected |
The amount of subsampling. Default is 2.
|
protected |
Size of the height lookup table.