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gazebo::physics::BulletHeightmapShape Class Reference

Height map collision. More...

#include <BulletHeightmapShape.hh>

Inheritance diagram for gazebo::physics::BulletHeightmapShape:
Inheritance graph

Public Member Functions

 BulletHeightmapShape (CollisionPtr _parent)
virtual ~BulletHeightmapShape ()
virtual void Init ()
 Load the heightmap.
- Public Member Functions inherited from gazebo::physics::HeightmapShape
 HeightmapShape (CollisionPtr _parent)
virtual ~HeightmapShape ()
void FillMsg (msgs::Geometry &_msg)
 Fill a geometry message with this shape's data.
float GetHeight (int _x, int _y)
 Get a height at a position.
float GetMaxHeight () const
 Get the maximum height.
float GetMinHeight () const
 Get the minimum height.
math::Vector3 GetPos () const
 Get the origin in world coordinate frame.
math::Vector3 GetSize () const
 Get the size in meters.
std::string GetURI () const
 Get the URI of the heightmap image.
math::Vector2i GetVertexCount () const
 Return the number of vertices, which equals the size of the image used to load the heightmap.
virtual void Load (sdf::ElementPtr _sdf)
 Load the heightmap.
virtual void ProcessMsg (const msgs::Geometry &_msg)
 Update the heightmap from a message.
- Public Member Functions inherited from gazebo::physics::Shape
 Shape (CollisionPtr p)
virtual ~Shape ()
virtual void FillShapeMsg (msgs::Geometry &_msg) GAZEBO_DEPRECATED
virtual void GetInertial (double _mass, InertialPtr _inertial) const
 Get inertial for a shape.
virtual double GetMass (double _density) const
 Get the mass of a shape.
- Public Member Functions inherited from gazebo::physics::Base
 Base (BasePtr parent)
virtual ~Base ()
void AddChild (BasePtr _child)
 Add a child to this entity.
void AddType (EntityType _type)
 Add a type specifier.
virtual void Fini ()
 Finialize the object.
BasePtr GetById (unsigned int _id) const
 Get a child or self by id.
BasePtr GetByName (const std::string &_name)
 Get by name.
BasePtr GetChild (unsigned int _i) const
 Get a child by index.
BasePtr GetChild (const std::string &_name)
 Get a child by name.
unsigned int GetChildCount () const
 Get the number of children.
unsigned int GetId () const
 Return the ID of this entity.
std::string GetName () const
 Return the name of the entity.
BasePtr GetParent () const
 Get the parent.
int GetParentId () const
 Return the ID of the parent.
bool GetSaveable () const
 Get whether the object should be "saved", when the user selects to save the world to xml.
std::string GetScopedName () const
 Return the name of this entity with the model scope world::model1::...::modelN::entityName.
virtual const sdf::ElementPtr GetSDF ()
 Get the SDF values for the object.
unsigned int GetType () const
 Get the full type definition.
const WorldPtrGetWorld () const
 Get the World this object is in.
bool HasType (const EntityType &_t) const
 Returns true if this object's type definition has the given type.
bool IsSelected () const
 True if the entity is selected by the user.
bool operator== (const Base &_ent) const
 Returns true if the entities are the same.
void Print (const std::string &_prefix)
 Print this object to screen via gzmsg.
virtual void RemoveChild (unsigned int _id)
 Remove a child from this entity.
void RemoveChild (const std::string &_name)
 Remove a child by name.
void RemoveChildren ()
 Remove all children.
virtual void Reset ()
 Reset the object.
virtual void Reset (Base::EntityType _resetType)
 Calls recursive Reset on one of the Base::EntityType's.
virtual void SetName (const std::string &_name)
 Set the name of the entity.
void SetParent (BasePtr _parent)
 Set the parent.
void SetSaveable (bool _v)
 Set whether the object should be "saved", when the user selects to save the world to xml.
virtual bool SetSelected (bool _show)
 Set whether this entity has been selected by the user through the gui.
void SetWorld (const WorldPtr &_newWorld)
 Set the world this object belongs to.
virtual void Update ()
 Update the object.
virtual void UpdateParameters (sdf::ElementPtr _sdf)
 Update the parameters using new sdf values.

Additional Inherited Members

- Public Types inherited from gazebo::physics::Base
enum  EntityType {
  BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004,
  COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020,
  JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200,
  SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, SHAPE = 0x00002000,
  BOX_SHAPE = 0x00004000, CYLINDER_SHAPE = 0x00008000, HEIGHTMAP_SHAPE = 0x00010000, MAP_SHAPE = 0x00020000,
  MULTIRAY_SHAPE = 0x00040000, RAY_SHAPE = 0x00080000, PLANE_SHAPE = 0x00100000, SPHERE_SHAPE = 0x00200000,
  TRIMESH_SHAPE = 0x00400000
 Unique identifiers for all entity types. More...
- Public Attributes inherited from gazebo::physics::Shape
CollisionPtr collisionParent
- Protected Attributes inherited from gazebo::physics::HeightmapShape
std::vector< float > heights
 Lookup table of heights.
common::Image img
 Image used to generate the heights.
math::Vector3 scale
 Scaling factor.
int subSampling
 Level of subsampling.
unsigned int vertSize
 Size of the height lookup table.

Detailed Description

Height map collision.

Constructor & Destructor Documentation

gazebo::physics::BulletHeightmapShape::BulletHeightmapShape ( CollisionPtr  _parent)


virtual gazebo::physics::BulletHeightmapShape::~BulletHeightmapShape ( )


Member Function Documentation

virtual void gazebo::physics::BulletHeightmapShape::Init ( )

Load the heightmap.

Reimplemented from gazebo::physics::HeightmapShape.

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