Public Member Functions | List of all members
gazebo::physics::BulletHeightmapShape Class Reference

Height map collision. More...

#include <BulletHeightmapShape.hh>

Inheritance diagram for gazebo::physics::BulletHeightmapShape:
Inheritance graph
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Public Member Functions

 BulletHeightmapShape (CollisionPtr _parent)
 Constructor. More...
 
virtual ~BulletHeightmapShape ()
 Destructor. More...
 
virtual void Init ()
 Load the heightmap. More...
 
- Public Member Functions inherited from gazebo::physics::HeightmapShape
 HeightmapShape (CollisionPtr _parent)
 Constructor. More...
 
virtual ~HeightmapShape ()
 Destructor. More...
 
virtual double ComputeVolume () const
 Documentation inherited. More...
 
void FillMsg (msgs::Geometry &_msg)
 Fill a geometry message with this shape's data. More...
 
float GetHeight (int _x, int _y) const
 Get a height at a position. 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...
 
math::Vector3 GetPos () const
 Get the origin in world coordinate frame. More...
 
math::Vector3 GetSize () const
 Get the size in meters. More...
 
int GetSubSampling () const
 Get the amount of subsampling. More...
 
std::string GetURI () const
 Get the URI of the heightmap image. More...
 
math::Vector2i GetVertexCount () const
 Return the number of vertices, which equals the size of the image used to load the heightmap. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load the heightmap. More...
 
virtual void ProcessMsg (const msgs::Geometry &_msg)
 Update the heightmap from a message. More...
 
virtual void SetScale (const math::Vector3 &_scale)
 Set the scale of the heightmap shape. More...
 
- Public Member Functions inherited from gazebo::physics::Shape
 Shape (CollisionPtr _parent)
 Constructor. More...
 
virtual ~Shape ()
 Destructor. More...
 
virtual math::Vector3 GetScale () const
 Get the scale of the shape. More...
 
- Public Member Functions inherited from gazebo::physics::Base
 Base (BasePtr _parent)
 Constructor. More...
 
virtual ~Base ()
 Destructor. More...
 
void AddChild (BasePtr _child)
 Add a child to this entity. More...
 
void AddType (EntityType _type)
 Add a type specifier. 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...
 
uint32_t GetId () const
 Return the ID of this entity. 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...
 
unsigned int GetType () const
 Get the full type definition. More...
 
const WorldPtrGetWorld () 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...
 
bool IsSelected () const
 True if the entity is selected by the user. More...
 
bool operator== (const Base &_ent) const
 Returns true if the entities are the same. More...
 
void Print (const std::string &_prefix)
 Print this object to screen via gzmsg. 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 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 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 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...
 
virtual void Update ()
 Update the object. More...
 
virtual void UpdateParameters (sdf::ElementPtr _sdf)
 Update the parameters using new sdf values. More...
 

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, GEARBOX_JOINT = 0x00002000,
  FIXED_JOINT = 0x00004000, 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...
 
- Protected Member Functions inherited from gazebo::physics::Base
void ComputeScopedName ()
 Compute the scoped name of this object based on its parents. More...
 
- Protected Attributes inherited from gazebo::physics::HeightmapShape
bool flipY
 True to flip the heights along the y direction. More...
 
common::HeightmapDataheightmapData
 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...
 
int subSampling
 The amount of subsampling. Default is 2. More...
 
unsigned int vertSize
 Size of the height lookup table. More...
 
- Protected Attributes inherited from gazebo::physics::Shape
CollisionPtr collisionParent
 This shape's collision parent. More...
 
math::Vector3 scale
 This shape's scale;. More...
 
- Protected Attributes inherited from gazebo::physics::Base
Base_V children
 Children of this entity. More...
 
BasePtr parent
 Parent of this entity. More...
 
sdf::ElementPtr sdf
 The SDF values for this object. More...
 
WorldPtr world
 Pointer to the world. More...
 

Detailed Description

Height map collision.

Constructor & Destructor Documentation

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

Constructor.

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

Destructor.

Member Function Documentation

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

Load the heightmap.

Reimplemented from gazebo::physics::HeightmapShape.


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