ImageHeightmap.hh
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1/*
2 * Copyright (C) 2012 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.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef _GAZEBO_IMAGE_HEIGHTMAP_DATA_HH_
19#define _GAZEBO_IMAGE_HEIGHTMAP_DATA_HH_
20
21#include <string>
22#include <vector>
23#include <ignition/math/Vector3.hh>
24
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 namespace common
32 {
35
38 class GZ_COMMON_VISIBLE ImageHeightmap
40 {
43 public: ImageHeightmap();
44
48 public: int Load(const std::string &_filename="");
49
50 // Documentation inherited.
51 public: void FillHeightMap(int _subSampling, unsigned int _vertSize,
52 const ignition::math::Vector3d &_size,
53 const ignition::math::Vector3d &_scale, bool _flipY,
54 std::vector<float> &_heights);
55
58 public: std::string GetFilename() const;
59
60 // Documentation inherited.
61 public: unsigned int GetHeight() const;
62
63 // Documentation inherited.
64 public: unsigned int GetWidth() const;
65
66 // Documentation inherited.
67 public: float GetMaxElevation() const;
68
70 private: gazebo::common::Image img;
71 };
73 }
74}
75#endif
common
Definition FuelModelDatabase.hh:37
Encapsulates a generic heightmap data file.
Definition HeightmapData.hh:40
Encapsulates an image that will be interpreted as a heightmap.
Definition ImageHeightmap.hh:40
unsigned int GetHeight() const
Get the terrain's height.
std::string GetFilename() const
Get the full filename of the image.
void FillHeightMap(int _subSampling, unsigned int _vertSize, const ignition::math::Vector3d &_size, const ignition::math::Vector3d &_scale, bool _flipY, std::vector< float > &_heights)
Create a lookup table of the terrain's height.
float GetMaxElevation() const
Get the maximum terrain's elevation.
unsigned int GetWidth() const
Get the terrain's width.
int Load(const std::string &_filename="")
Load an image file as a heightmap.
Encapsulates an image.
Definition Image.hh:66
Forward declarations for the common classes.
Definition Animation.hh:27