HeightmapShape collision shape builds a heightmap from an image. More...

#include <physics/physics.hh>

Inherits Shape.

Inherited by BulletHeightmapShape, DARTHeightmapShape, ODEHeightmapShape, and SimbodyHeightmapShape.

Public Types
enum	EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, 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, FIXED_JOINT = 0x00004000, ACTOR = 0x00008000, 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...

Public Member Functions
	HeightmapShape (CollisionPtr _parent)
	Constructor. More...

virtual	~HeightmapShape ()
	Destructor. More...

void	AddChild (BasePtr _child)
	Add a child to this entity. More...

void	AddType (EntityType _type)
	Add a type specifier. More...

virtual double	ComputeVolume () const
	Documentation inherited. More...

void	FillHeights (msgs::Geometry &_msg) const
	Fill a geometry message with this shape's height data. More...

void	FillMsg (msgs::Geometry &_msg)
	Fill a geometry message with this shape's data. 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...

float	GetHeight (int _x, int _y) const
	Get a height at a position. More...

uint32_t	GetId () const
	Return the ID of this entity. 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...

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...

int	GetSubSampling () const
	Get the amount of subsampling. More...

unsigned int	GetType () const
	Get the full type definition. More...

std::string	GetURI () const
	Get the URI of the heightmap image. 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...

virtual void	Init ()
	Initialize the heightmap. More...

bool	IsSelected () const
	True if the entity is selected by the user. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load the heightmap. More...

bool	operator== (const Base &_ent) const
	Returns true if the entities are the same. More...

ignition::math::Vector3d	Pos () const
	Get the origin in world coordinate frame. More...

void	Print (const std::string &_prefix)
	Print this object to screen via gzmsg. More...

virtual void	ProcessMsg (const msgs::Geometry &_msg)
	Update the heightmap from a message. 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	RemoveChild (physics::BasePtr _child)
	Remove a child by pointer. 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 ignition::math::Vector3d	Scale () const
	Get the scale of the shape. 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 void	SetScale (const ignition::math::Vector3d &_scale)
	Set the scale of the heightmap shape. 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...

ignition::math::Vector3d	Size () const
	Get the size in meters. More...

std::string	TypeStr () const
	Get the string name for the entity type. More...

virtual void	Update ()
	Update the object. More...

virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...

common::URI	URI () const
	Return the common::URI of this entity. More...

ignition::math::Vector2i	VertexCount () const
	Return the number of vertices, which equals the size of the image used to load the heightmap. More...

Protected Member Functions
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

virtual void	RegisterIntrospectionItems ()
	Register items in the introspection service. More...

virtual void	UnregisterIntrospectionItems ()
	Unregister items in the introspection service. More...

Protected Attributes
Base_V	children
	Children of this entity. More...

CollisionPtr	collisionParent
	This shape's collision parent. More...

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...

std::vector< common::URI >	introspectionItems
	All the introspection items regsitered for this. More...

BasePtr	parent
	Parent of this entity. More...

ignition::math::Vector3d	scale = ignition::math::Vector3d::One
	This shape's scale;. More...

sdf::ElementPtr	sdf
	The SDF values for this object. More...

int	subSampling
	The amount of subsampling. Default is 2. More...

unsigned int	vertSize
	Size of the height lookup table. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

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.

Member Enumeration Documentation

enum EntityType

inherited

Unique identifiers for all entity types.

Enumerator
BASE	Base type.
ENTITY	Entity type.
MODEL	Model type.
LINK	Link type.
COLLISION	Collision type.
LIGHT	Light type.
VISUAL	Visual type.
JOINT	Joint type.
BALL_JOINT	BallJoint type.
HINGE2_JOINT	Hing2Joint type.
HINGE_JOINT	HingeJoint type.
SLIDER_JOINT	SliderJoint type.
SCREW_JOINT	ScrewJoint type.
UNIVERSAL_JOINT	UniversalJoint type.
GEARBOX_JOINT	GearboxJoint type.
FIXED_JOINT	FixedJoint type.
ACTOR	Actor type.
SHAPE	Shape type.
BOX_SHAPE	BoxShape type.
CYLINDER_SHAPE	CylinderShape type.
HEIGHTMAP_SHAPE	HeightmapShape type.
MAP_SHAPE	MapShape type.
MULTIRAY_SHAPE	MultiRayShape type.
RAY_SHAPE	RayShape type.
PLANE_SHAPE	PlaneShape type.
SPHERE_SHAPE	SphereShape type.
MESH_SHAPE	MeshShape type.
POLYLINE_SHAPE	PolylineShape type.
SENSOR_COLLISION	Indicates a collision shape used for sensing.

Constructor & Destructor Documentation

HeightmapShape ( CollisionPtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent Collision object.

virtual ~HeightmapShape ( )

virtual

Destructor.

Member Function Documentation

void AddChild ( BasePtr _child )

inherited

Add a child to this entity.

Parameters

[in] _child Child entity.

void AddType ( EntityType _type )

inherited

Add a type specifier.

Parameters

[in] _type New type to append to this objects type definition.

void ComputeScopedName ( )

protectedinherited

Compute the scoped name of this object based on its parents.

See Also: Base::GetScopedName

virtual double ComputeVolume ( ) const

virtual

Documentation inherited.

Reimplemented from Shape.

void FillHeights ( msgs::Geometry & _msg ) const

Fill a geometry message with this shape's height data.

Parameters

[in] _msg Message to fill.

void FillMsg ( msgs::Geometry & _msg )

virtual

Fill a geometry message with this shape's data.

Raw height data are not packed in this message to minimize packet size.

Parameters

[in] _msg Message to fill.

See Also: FillHeights

Implements Shape.

virtual void Fini ( )

virtualinherited

Finialize the object.

Reimplemented in Joint, Actor, Model, Link, Entity, DARTModel, ODEJoint, Road, DARTCollision, DARTLink, BulletJoint, ODECollision, SimbodyLink, BulletLink, ODELink, and Collision.

BasePtr GetByName ( const std::string & _name )

inherited

Get by name.

Parameters

[in] _name Get a child (or self) object by name

Returns: A pointer to the object, NULL if not found

BasePtr GetChild ( unsigned int _i ) const

inherited

Get a child by index.

Parameters

[in] _i Index of the child to retreive.

Returns: A pointer to the object, NULL if the index is invalid.

BasePtr GetChild ( const std::string & _name )

inherited

Get a child by name.

Parameters

[in] _name Name of the child.

Returns: A pointer to the object, NULL if not found

unsigned int GetChildCount ( ) const

inherited

Get the number of children.

Returns: The number of children.

float GetHeight	(	int	_x,
		int	_y
	)		const

Get a height at a position.

Parameters

[in]	_x	X position.
[in]	_y	Y position.

Returns: The height at a the specified location.

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

common::Image GetImage ( ) const

Return an image representation of the heightmap.

Returns: Image where white pixels represents the highest locations, and black pixels the lowest.

float GetMaxHeight ( ) const

Get the maximum height.

Returns: The maximum height.

float GetMinHeight ( ) const

Get the minimum height.

Returns: The minimum height.

std::string GetName ( ) const

inherited

Return the name of the entity.

Returns: Name of the entity.

BasePtr GetParent ( ) const

inherited

Get the parent.

Returns: Pointer to the parent entity.

int GetParentId ( ) const

inherited

Return the ID of the parent.

Returns: Integer ID.

bool GetSaveable ( ) const

inherited

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns: True if the object is saveable.

std::string GetScopedName ( bool _prependWorldName = false ) const

inherited

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters

[in] _prependWorldName True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.

Returns: The scoped name.

virtual const sdf::ElementPtr GetSDF ( )

virtualinherited

Get the SDF values for the object.

Returns: The SDF values for the object.

Reimplemented in Actor, and Model.

int GetSubSampling ( ) const

Get the amount of subsampling.

Returns: Amount of subsampling.

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

std::string GetURI ( ) const

Get the URI of the heightmap image.

Returns: The heightmap image URI.

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns: The World this object is part of.

bool HasType ( const EntityType & _t ) const

inherited

Returns true if this object's type definition has the given type.

Parameters

[in] _t Type to check.

Returns: True if this object's type definition has the.

virtual void Init ( )

virtual

Initialize the heightmap.

Implements Shape.

Reimplemented in BulletHeightmapShape, DARTHeightmapShape, SimbodyHeightmapShape, and ODEHeightmapShape.

bool IsSelected ( ) const

inherited

True if the entity is selected by the user.

Returns: True if the entity is selected.

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the heightmap.

Parameters

[in] _sdf SDF value to load from.

Reimplemented from Base.

bool operator== ( const Base & _ent ) const

inherited

Returns true if the entities are the same.

Checks only the name.

Parameters

[in] _ent Base object to compare with.

Returns: True if the entities are the same.

ignition::math::Vector3d Pos ( ) const

Get the origin in world coordinate frame.

Returns: The origin in world coordinate frame.

void Print ( const std::string & _prefix )

inherited

Print this object to screen via gzmsg.

Parameters

[in] _prefix Usually a set of spaces.

virtual void ProcessMsg ( const msgs::Geometry & _msg )

virtual

Update the heightmap from a message.

Parameters

[in] _msg Message to update from.

Implements Shape.

virtual void RegisterIntrospectionItems ( )

protectedvirtualinherited

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

virtual void RemoveChild ( unsigned int _id )

virtualinherited

Remove a child from this entity.

Parameters

[in] _id ID of the child to remove.

void RemoveChild ( const std::string & _name )

inherited

Remove a child by name.

Parameters

[in] _name Name of the child.

void RemoveChild ( physics::BasePtr _child )

inherited

Remove a child by pointer.

Parameters

[in] _child Pointer to the child.

void RemoveChildren ( )

inherited

Remove all children.

virtual void Reset ( )

virtualinherited

Reset the object.

Reimplemented in Joint, Actor, Model, Link, Entity, ODEJoint, DARTJoint, BulletJoint, and SimbodyJoint.

virtual void Reset ( Base::EntityType _resetType )

virtualinherited

Calls recursive Reset on one of the Base::EntityType's.

Parameters

[in] _resetType The type of reset operation

virtual ignition::math::Vector3d Scale ( ) const

virtualinherited

Get the scale of the shape.

Returns: Scale of the shape.

Reimplemented in MapShape.

virtual void SetName ( const std::string & _name )

virtualinherited

Set the name of the entity.

Parameters

[in] _name New name.

Reimplemented in Entity.

void SetParent ( BasePtr _parent )

inherited

Set the parent.

Parameters

[in] _parent Parent object.

void SetSaveable ( bool _v )

inherited

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters

[in] _v Set to True if the object should be saved.

virtual void SetScale ( const ignition::math::Vector3d & _scale )

virtual

Set the scale of the heightmap shape.

Parameters

[in] _scale Scale to set the heightmap shape to.

Implements Shape.

virtual bool SetSelected ( bool _show )

virtualinherited

Set whether this entity has been selected by the user through the gui.

Parameters

[in] _show True to set this entity as selected.

Reimplemented in Link.

void SetWorld ( const WorldPtr & _newWorld )

inherited

Set the world this object belongs to.

This will also set the world for all children.

Parameters

[in] _newWorld The new World this object is part of.

ignition::math::Vector3d Size ( ) const

Get the size in meters.

Returns: The size in meters.

std::string TypeStr ( ) const

inherited

Get the string name for the entity type.

Returns: The string name for this entity.

virtual void UnregisterIntrospectionItems ( )

protectedvirtualinherited

Unregister items in the introspection service.

virtual void Update ( )

inlinevirtualinherited

Update the object.

Reimplemented in MultiRayShape, Joint, Actor, RayShape, Model, DARTModel, MapShape, DARTRayShape, ODERayShape, DARTMeshShape, ODEMeshShape, ODEPolylineShape, SimbodyRayShape, BulletRayShape, and MeshShape.

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

virtualinherited

Update the parameters using new sdf values.

Parameters

[in] _sdf Update the object's parameters based on SDF values.

Reimplemented in Joint, Actor, Link, Model, Entity, and Collision.

common::URI URI ( ) const

inherited

Return the common::URI of this entity.

The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.

Returns: The URI of this entity.

ignition::math::Vector2i VertexCount ( ) const

Return the number of vertices, which equals the size of the image used to load the heightmap.

Returns: ignition::math::Vector2i, result.X() == width, result.Y() == length/height.

Member Data Documentation

Base_V children

protectedinherited

Children of this entity.

CollisionPtr collisionParent

protectedinherited

This shape's collision parent.

Referenced by ODEPlaneShape::CreatePlane(), BulletPlaneShape::CreatePlane(), ODEPlaneShape::SetAltitude(), SimbodySphereShape::SetRadius(), ODESphereShape::SetRadius(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), ODECylinderShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletCylinderShape::SetSize(), ODEBoxShape::SetSize(), and BulletBoxShape::SetSize().

bool flipY

protected

True to flip the heights along the y direction.

common::HeightmapData* heightmapData

protected

HeightmapData used to generate the heights.

std::vector<float> heights

protected

Lookup table of heights.

common::ImageHeightmap img

protected

Image used to generate the heights.

std::vector<common::URI> introspectionItems

protectedinherited

All the introspection items regsitered for this.

BasePtr parent

protectedinherited

Parent of this entity.

ignition::math::Vector3d scale = ignition::math::Vector3d::One

protectedinherited

This shape's scale;.

sdf::ElementPtr sdf

protectedinherited

The SDF values for this object.

int subSampling

protected

The amount of subsampling. Default is 2.

unsigned int vertSize

protected

Size of the height lookup table.

WorldPtr world

protectedinherited

Pointer to the world.

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

HeightmapShape.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation