Dem.hh

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef _GAZEBO_DEM_HH_
#define _GAZEBO_DEM_HH_

#include <ignition/math/Vector3.hh>
#include <ignition/math/Angle.hh>

#include <gazebo/gazebo_config.h>
#include <gazebo/util/system.hh>

#ifdef HAVE_GDAL
# include <string>
# include <vector>

# include "gazebo/common/HeightmapData.hh"
# include "gazebo/math/Angle.hh"

namespace gazebo
{
  namespace common
  {
    class DemPrivate;


    class GZ_COMMON_VISIBLE Dem : public HeightmapData
    {
      public: Dem();

      public: virtual ~Dem();

      public: int Load(const std::string &_filename="");

      public: double GetElevation(double _x, double _y);

      public: float GetMinElevation() const;

      public: float GetMaxElevation() const;

      public: void GetGeoReferenceOrigin(ignition::math::Angle &_latitude,
                  ignition::math::Angle &_longitude) const;

      public: unsigned int GetHeight() const;

      public: unsigned int GetWidth() const;

      public: double GetWorldWidth() const;

      public: double GetWorldHeight() const;

      public: void FillHeightMap(const int _subSampling,
                  const unsigned int _vertSize,
                  const ignition::math::Vector3d &_size,
                  const ignition::math::Vector3d &_scale,
                  const bool _flipY,
                  std::vector<float> &_heights);

      private: void GetGeoReference(double _x, double _y,
                                    ignition::math::Angle &_latitude,
                                    ignition::math::Angle &_longitude) const;

      private: int LoadData();

      private: DemPrivate *dataPtr;
    };
  }
}
#endif
#endif