18 #ifndef _GAZEBO_DEM_HH_
19 #define _GAZEBO_DEM_HH_
21 #include <ignition/math/Vector3.hh>
22 #include <ignition/math/Angle.hh>
24 #include <gazebo/gazebo_config.h>
50 public:
virtual ~
Dem();
55 public:
int Load(
const std::string &_filename=
"");
61 public:
double GetElevation(
double _x,
double _y);
65 public:
float GetMinElevation()
const;
69 public:
float GetMaxElevation()
const;
75 public:
void GetGeoReferenceOrigin(ignition::math::Angle &_latitude,
76 ignition::math::Angle &_longitude)
const;
85 public:
unsigned int GetHeight()
const;
94 public:
unsigned int GetWidth()
const;
98 public:
double GetWorldWidth()
const;
102 public:
double GetWorldHeight()
const;
114 public:
void FillHeightMap(
const int _subSampling,
115 const unsigned int _vertSize,
116 const ignition::math::Vector3d &_size,
117 const ignition::math::Vector3d &_scale,
119 std::vector<float> &_heights);
127 private:
void GetGeoReference(
double _x,
double _y,
128 ignition::math::Angle &_latitude,
129 ignition::math::Angle &_longitude)
const;
135 private:
int LoadData();
139 private: DemPrivate *dataPtr;
Encapsulates a generic heightmap data file.
Definition: HeightmapData.hh:39