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

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::HeightmapShape:

Public Member Functions
	HeightmapShape (CollisionPtr _parent)
	Constructor.
virtual	~HeightmapShape ()
	Destructor.
void	FillMsg (msgs::Geometry &_msg)
	Fill a geometry message with this shape's data.
float	GetHeight (int _x, int _y) const
	Get a height at a position.
common::Image	GetImage () const
	Return an image representation of the heightmap.
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.
int	GetSubSampling () const
	Get the amount of subsampling.
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 _parent)
	Constructor.
virtual	~Shape ()
	Destructor.
Public Member Functions inherited from gazebo::physics::Base
	Base (BasePtr _parent)
	Constructor.
virtual	~Base ()
	Destructor.
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
	This is an internal function.
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 WorldPtr &	GetWorld () 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
bool	flipY
	True to flip the heights along the y direction.
std::vector< float >	heights
	Lookup table of heights.
common::Image	img
	Image used to generate the heights.
math::Vector3	scale
	Scaling factor.
int	subSampling
	The amount of subsampling. Default is 2.
unsigned int	vertSize
	Size of the height lookup table.
Protected Attributes inherited from gazebo::physics::Shape
CollisionPtr	collisionParent
	This shape's collision parent.
Protected Attributes inherited from gazebo::physics::Base
Base_V	children
	Children of this entity.
Base_V::iterator	childrenEnd
	End of the children vector.
BasePtr	parent
	Parent of this entity.
sdf::ElementPtr	sdf
	The SDF values for this object.
WorldPtr	world
	Pointer to the world.

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, MESH_SHAPE = 0x00400000, SENSOR_COLLISION = 0x00800000 }
	Unique identifiers for all entity types. More...
Protected Member Functions inherited from gazebo::physics::Base
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents.

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 )

explicit

Constructor.

Parameters

[in] _parent Parent Collision object.

virtual gazebo::physics::HeightmapShape::~HeightmapShape ( )

virtual

Destructor.

Member Function Documentation

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

virtual

Fill a geometry message with this shape's data.

Parameters

[in] _msg Message to fill.

Implements gazebo::physics::Shape.

float gazebo::physics::HeightmapShape::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.

common::Image gazebo::physics::HeightmapShape::GetImage ( ) const

Return an image representation of the heightmap.

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

float gazebo::physics::HeightmapShape::GetMaxHeight ( ) const

Get the maximum height.

Returns: The maximum height.

float gazebo::physics::HeightmapShape::GetMinHeight ( ) const

Get the minimum height.

Returns: The minimum height.

math::Vector3 gazebo::physics::HeightmapShape::GetPos ( ) const

Get the origin in world coordinate frame.

Returns: The origin in world coordinate frame.

math::Vector3 gazebo::physics::HeightmapShape::GetSize ( ) const

Get the size in meters.

Returns: The size in meters.

int gazebo::physics::HeightmapShape::GetSubSampling ( ) const

Get the amount of subsampling.

Returns: Amount of subsampling.

std::string gazebo::physics::HeightmapShape::GetURI ( ) const

Get the URI of the heightmap image.

Returns: 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.

Returns: math::Vector2i, result.x = width, result.y = length/height.

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

virtual

Initialize the heightmap.

Implements gazebo::physics::Shape.

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

virtual

Load the heightmap.

Parameters

[in] _sdf SDF value to load from.

Reimplemented from gazebo::physics::Base.

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

virtual

Update the heightmap from a message.

Parameters

[in] _msg Message to update from.

Implements gazebo::physics::Shape.

Member Data Documentation

bool gazebo::physics::HeightmapShape::flipY

protected

True to flip the heights along the y direction.

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

protected

Lookup table of heights.

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

protected

Image used to generate the heights.

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

protected

Scaling factor.

int gazebo::physics::HeightmapShape::subSampling

protected

The amount of subsampling. Default is 2.

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

protected

Size of the height lookup table.

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

HeightmapShape.hh

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation