Heightmap.hh
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2  * Copyright 2020 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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15  *
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17 #ifndef SDF_HEIGHTMAP_HH_
18 #define SDF_HEIGHTMAP_HH_
19 
20 #include <string>
21 #include <ignition/math/Vector3.hh>
22 #include <ignition/utils/ImplPtr.hh>
23 #include <sdf/Element.hh>
24 #include <sdf/Error.hh>
25 #include <sdf/sdf_config.h>
26 
27 namespace sdf
28 {
29  // Inline bracket to help doxygen filtering.
30  inline namespace SDF_VERSION_NAMESPACE {
33  {
35  public: HeightmapTexture();
36 
43  public: Errors Load(ElementPtr _sdf);
44 
47  public: double Size() const;
48 
51  public: void SetSize(double _uri);
52 
55  public: std::string Diffuse() const;
56 
59  public: void SetDiffuse(const std::string &_diffuse);
60 
63  public: std::string Normal() const;
64 
67  public: void SetNormal(const std::string &_normal);
68 
72  public: sdf::ElementPtr Element() const;
73 
75  IGN_UTILS_IMPL_PTR(dataPtr)
76  };
77 
80  {
82  public: HeightmapBlend();
83 
90  public: Errors Load(ElementPtr _sdf);
91 
94  public: double MinHeight() const;
95 
98  public: void SetMinHeight(double _minHeight);
99 
102  public: double FadeDistance() const;
103 
106  public: void SetFadeDistance(double _fadeDistance);
107 
111  public: sdf::ElementPtr Element() const;
112 
114  IGN_UTILS_IMPL_PTR(dataPtr)
115  };
116 
120  {
122  public: Heightmap();
123 
130  public: Errors Load(ElementPtr _sdf);
131 
134  public: std::string Uri() const;
135 
138  public: void SetUri(const std::string &_uri);
139 
142  public: const std::string &FilePath() const;
143 
146  public: void SetFilePath(const std::string &_filePath);
147 
150  public: ignition::math::Vector3d Size() const;
151 
154  public: void SetSize(const ignition::math::Vector3d &_size);
155 
158  public: ignition::math::Vector3d Position() const;
159 
162  public: void SetPosition(const ignition::math::Vector3d &_position);
163 
166  public: bool UseTerrainPaging() const;
167 
170  public: void SetUseTerrainPaging(bool _use);
171 
174  public: unsigned int Sampling() const;
175 
178  public: void SetSampling(unsigned int _sampling);
179 
182  public: uint64_t TextureCount() const;
183 
190  public: const HeightmapTexture *TextureByIndex(uint64_t _index) const;
191 
194  public: void AddTexture(const HeightmapTexture &_texture);
195 
198  public: uint64_t BlendCount() const;
199 
206  public: const HeightmapBlend *BlendByIndex(uint64_t _index) const;
207 
210  public: void AddBlend(const HeightmapBlend &_blend);
211 
215  public: sdf::ElementPtr Element() const;
216 
218  IGN_UTILS_IMPL_PTR(dataPtr)
219  };
220  }
221 }
222 #endif
Error.hh
sdf::v12::HeightmapTexture
Texture to be used on heightmaps.
Definition: Heightmap.hh:32
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:33
sdf::v12::HeightmapBlend
Blend information to be used between textures on heightmaps.
Definition: Heightmap.hh:79
sdf::v12::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
sdf::v12::Heightmap
Heightmap represents a shape defined by a 2D field, and is usually accessed through a Geometry.
Definition: Heightmap.hh:119
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:41
sdf::v12::Element
SDF Element class.
Definition: Element.hh:73
sdf::v12::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
Element.hh