Rendering a terrain using heightmap information. More...

#include <rendering/rendering.hh>

Public Member Functions
	Heightmap (ScenePtr _scene)
	Constructor. More...

virtual	~Heightmap ()
	Destructor. More...

double	AvgHeight (const ignition::math::Vector3d &_pos, const double _brushSize) const
	Get the average height around a point. More...

bool	Flatten (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1) GAZEBO_DEPRECATED(7.0)
	Flatten the terrain based on a mouse press. More...

bool	Flatten (CameraPtr _camera, const ignition::math::Vector2i &_mousePos, const double _outsideRadius, const double _insideRadius, const double _weight=0.1)
	Flatten the terrain based on a mouse press. More...

double	GetAvgHeight (Ogre::Vector3 _pos, double _brushSize) GAZEBO_DEPRECATED(7.0)
	Get the average height around a point. More...

double	GetHeight (double _x, double _y, double _z=1000) GAZEBO_DEPRECATED(7.0)
	Get the height at a location. More...

common::Image	GetImage () const GAZEBO_DEPRECATED(7.0)
	Get the heightmap as an image. More...

Ogre::TerrainGroup::RayResult	GetMouseHit (CameraPtr _camera, math::Vector2i _mousePos) GAZEBO_DEPRECATED(7.0)
	Calculate a mouse ray hit on the terrain. More...

Ogre::TerrainGroup *	GetOgreTerrain () const GAZEBO_DEPRECATED(7.0)
	Get a pointer to the OGRE terrain group object. More...

unsigned int	GetTerrainSubdivisionCount () const GAZEBO_DEPRECATED(7.0)
	Get the number of subdivision the terrain will be split into. More...

double	Height (const double _x, const double _y, const double _z=1000) const
	Get the height at a location. More...

common::Image	Image () const
	Get the heightmap as an image. More...

void	Load ()
	Load the heightmap. More...

void	LoadFromMsg (ConstVisualPtr &_msg)
	Load the heightmap from a visual message. More...

bool	Lower (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1) GAZEBO_DEPRECATED(7.0)
	Lower the terrain based on a mouse press. More...

bool	Lower (CameraPtr _camera, const ignition::math::Vector2i &_mousePos, const double _outsideRadius, const double _insideRadius, const double _weight=0.1)
	Lower the terrain based on a mouse press. More...

Ogre::TerrainGroup::RayResult	MouseHit (CameraPtr _camera, const ignition::math::Vector2i &_mousePos) const
	Calculate a mouse ray hit on the terrain. More...

Ogre::TerrainGroup *	OgreTerrain () const
	Get a pointer to the OGRE terrain group object. More...

bool	Raise (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1) GAZEBO_DEPRECATED(7.0)
	Raise the terrain based on a mouse press. More...

bool	Raise (CameraPtr _camera, const ignition::math::Vector2i &_mousePos, const double _outsideRadius, const double _insideRadius, const double _weight=0.1)
	Raise the terrain based on a mouse press. More...

void	SetWireframe (const bool _show)
	Set the heightmap to render in wireframe mode. More...

bool	Smooth (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1) GAZEBO_DEPRECATED(7.0)
	Smooth the terrain based on a mouse press. More...

bool	Smooth (CameraPtr _camera, const ignition::math::Vector2i &_mousePos, const double _outsideRadius, const double _insideRadius, const double _weight=0.1)
	Smooth the terrain based on a mouse press. More...

void	SplitHeights (const std::vector< float > &_heightmap, const int _n, std::vector< std::vector< float > > &_v)
	Split a terrain into subterrains. More...

unsigned int	TerrainSubdivisionCount () const
	Get the number of subdivision the terrain will be split into. More...

Detailed Description

Rendering a terrain using heightmap information.

Constructor & Destructor Documentation

gazebo::rendering::Heightmap::Heightmap ( ScenePtr _scene )

Constructor.

Parameters

[in] _scene Pointer to the scene that will contain the heightmap

virtual gazebo::rendering::Heightmap::~Heightmap ( )

virtual

Destructor.

Member Function Documentation

double gazebo::rendering::Heightmap::AvgHeight	(	const ignition::math::Vector3d &	_pos,
		const double	_brushSize
	)		const

Get the average height around a point.

Parameters

[in]	_pos	Position in world coordinates.
[in]	_brushSize	Controls the radius of effect.

bool gazebo::rendering::Heightmap::Flatten	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = `0.1`
	)

Flatten the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

Deprecated:: See function that accepts an ignition::math parameter.

bool gazebo::rendering::Heightmap::Flatten	(	CameraPtr	_camera,
		const ignition::math::Vector2i &	_mousePos,
		const double	_outsideRadius,
		const double	_insideRadius,
		const double	_weight = `0.1`
	)

Flatten the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

double gazebo::rendering::Heightmap::GetAvgHeight	(	Ogre::Vector3	_pos,
		double	_brushSize
	)

Get the average height around a point.

Parameters

[in]	_pos	Position in world coordinates.
[in]	_brushSize	Controls the radius of effect.

Deprecated:: See AvgHeight()

double gazebo::rendering::Heightmap::GetHeight	(	double	_x,
		double	_y,
		double	_z = `1000`
	)

Get the height at a location.

Parameters

[in]	_x	X location
[in]	_y	Y location
[in]	_z	Z location

Returns: The height at the specified location

Deprecated:: See Height()

common::Image gazebo::rendering::Heightmap::GetImage ( ) const

Get the heightmap as an image.

Returns: An image that contains the terrain data.

Deprecated:: See Image()

Ogre::TerrainGroup::RayResult gazebo::rendering::Heightmap::GetMouseHit	(	CameraPtr	_camera,
		math::Vector2i	_mousePos
	)

Calculate a mouse ray hit on the terrain.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.

Returns: The result of the mouse ray hit.

Deprecated:: See MouseHit()

Ogre::TerrainGroup* gazebo::rendering::Heightmap::GetOgreTerrain ( ) const

Get a pointer to the OGRE terrain group object.

Returns: Pointer to the OGRE terrain.

Deprecated:: See OgreTerrain()

unsigned int gazebo::rendering::Heightmap::GetTerrainSubdivisionCount ( ) const

Get the number of subdivision the terrain will be split into.

Returns: Number of terrain subdivisions

Deprecated:: See TerrainSubdivisionCount()

double gazebo::rendering::Heightmap::Height	(	const double	_x,
		const double	_y,
		const double	_z = `1000`
	)		const

Get the height at a location.

Parameters

[in]	_x	X location
[in]	_y	Y location
[in]	_z	Z location

Returns: The height at the specified location

common::Image gazebo::rendering::Heightmap::Image ( ) const

Get the heightmap as an image.

Returns: An image that contains the terrain data.

void gazebo::rendering::Heightmap::Load ( )

Load the heightmap.

void gazebo::rendering::Heightmap::LoadFromMsg ( ConstVisualPtr & _msg )

Load the heightmap from a visual message.

Parameters

[in] _msg The visual message containing heightmap info

bool gazebo::rendering::Heightmap::Lower	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = `0.1`
	)

Lower the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

Deprecated:: See function that accepts an ignition::math parameter.

bool gazebo::rendering::Heightmap::Lower	(	CameraPtr	_camera,
		const ignition::math::Vector2i &	_mousePos,
		const double	_outsideRadius,
		const double	_insideRadius,
		const double	_weight = `0.1`
	)

Lower the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

Ogre::TerrainGroup::RayResult gazebo::rendering::Heightmap::MouseHit	(	CameraPtr	_camera,
		const ignition::math::Vector2i &	_mousePos
	)		const

Calculate a mouse ray hit on the terrain.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.

Returns: The result of the mouse ray hit.

Ogre::TerrainGroup* gazebo::rendering::Heightmap::OgreTerrain ( ) const

Get a pointer to the OGRE terrain group object.

Returns: Pointer to the OGRE terrain.

bool gazebo::rendering::Heightmap::Raise	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = `0.1`
	)

Raise the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

Deprecated:: See function that accepts an ignition::math parameter.

bool gazebo::rendering::Heightmap::Raise	(	CameraPtr	_camera,
		const ignition::math::Vector2i &	_mousePos,
		const double	_outsideRadius,
		const double	_insideRadius,
		const double	_weight = `0.1`
	)

Raise the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

void gazebo::rendering::Heightmap::SetWireframe ( const bool _show )

Set the heightmap to render in wireframe mode.

Parameters

[in] _show True to render wireframe, false to render solid.

bool gazebo::rendering::Heightmap::Smooth	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = `0.1`
	)

Smooth the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

Deprecated:: See function that accepts an ignition::math parameter.

bool gazebo::rendering::Heightmap::Smooth	(	CameraPtr	_camera,
		const ignition::math::Vector2i &	_mousePos,
		const double	_outsideRadius,
		const double	_insideRadius,
		const double	_weight = `0.1`
	)

Smooth the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

void gazebo::rendering::Heightmap::SplitHeights	(	const std::vector< float > &	_heightmap,
		const int	_n,
		std::vector< std::vector< float > > &	_v
	)

Split a terrain into subterrains.

Parameters

[in]	_heightmap	Source vector of floats with the heights.
[in]	_n	Number of subterrains.
[out]	_v	Destination vector with the subterrains.

unsigned int gazebo::rendering::Heightmap::TerrainSubdivisionCount ( ) const

Get the number of subdivision the terrain will be split into.

Returns: Number of terrain subdivisions

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

Heightmap.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation