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gazebo::physics::HeightmapShape Class Reference

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

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::HeightmapShape:
Inheritance graph

Public Member Functions

 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 Init ()
 Initialize 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.

Protected Attributes

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.

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

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.

Constructor & Destructor Documentation

gazebo::physics::HeightmapShape::HeightmapShape ( CollisionPtr  _parent)


[in]_parentParent Collision object.
virtual gazebo::physics::HeightmapShape::~HeightmapShape ( )


Member Function Documentation

void gazebo::physics::HeightmapShape::FillMsg ( msgs::Geometry &  _msg)

Fill a geometry message with this shape's data.

[in]_msgMessage to fill.

Implements gazebo::physics::Shape.

float gazebo::physics::HeightmapShape::GetHeight ( int  _x,
int  _y 

Get a height at a position.

[in]_xX position.
[in]_yY position.
The height at a the specified location.
float gazebo::physics::HeightmapShape::GetMaxHeight ( ) const

Get the maximum height.

The maximum height.
float gazebo::physics::HeightmapShape::GetMinHeight ( ) const

Get the minimum height.

The minimum height.
math::Vector3 gazebo::physics::HeightmapShape::GetPos ( ) const

Get the origin in world coordinate frame.

The origin in world coordinate frame.
math::Vector3 gazebo::physics::HeightmapShape::GetSize ( ) const

Get the size in meters.

The size in meters.
std::string gazebo::physics::HeightmapShape::GetURI ( ) const

Get the URI of the heightmap image.

The heightmap image URI.
math::Vector2i gazebo::physics::HeightmapShape::GetVertexCount ( ) const

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

math::Vector2i, result.x = width, result.y = length/height.
virtual void gazebo::physics::HeightmapShape::Init ( )

Initialize the heightmap.

Implements gazebo::physics::Shape.

Reimplemented in gazebo::physics::BulletHeightmapShape, and gazebo::physics::ODEHeightmapShape.

virtual void gazebo::physics::HeightmapShape::Load ( sdf::ElementPtr  _sdf)

Load the heightmap.

[in]_sdfSDF value to load from.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::HeightmapShape::ProcessMsg ( const msgs::Geometry &  _msg)

Update the heightmap from a message.

[in]_msgMessage to update from.

Implements gazebo::physics::Shape.

Member Data Documentation

std::vector<float> gazebo::physics::HeightmapShape::heights

Lookup table of heights.

common::Image gazebo::physics::HeightmapShape::img

Image used to generate the heights.

math::Vector3 gazebo::physics::HeightmapShape::scale

Scaling factor.

int gazebo::physics::HeightmapShape::subSampling

Level of subsampling.

unsigned int gazebo::physics::HeightmapShape::vertSize

Size of the height lookup table.

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