HeightmapData.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_COMMON_HEIGHTMAPDATA_HH_
19#define GAZEBO_COMMON_HEIGHTMAPDATA_HH_
20
21#include <string>
22#include <vector>
23#include <ignition/math/Vector3.hh>
24
25#include "gazebo/gazebo_config.h"
26
28#include "gazebo/util/system.hh"
29
30namespace gazebo
31{
32 namespace common
33 {
36
39 class GZ_COMMON_VISIBLE HeightmapData
40 {
42 public: virtual ~HeightmapData() {}
43
54 public: virtual void FillHeightMap(int _subSampling,
55 unsigned int _vertSize, const ignition::math::Vector3d &_size,
56 const ignition::math::Vector3d &_scale, bool _flipY,
57 std::vector<float> &_heights) = 0;
58
61 public: virtual unsigned int GetHeight() const = 0;
62
65 public: virtual unsigned int GetWidth() const = 0;
66
69 public: virtual float GetMaxElevation() const = 0;
70 };
71
74 class GZ_COMMON_VISIBLE HeightmapDataLoader
75 {
83 const std::string &_filename);
84
88 private: static HeightmapData *LoadDEMAsTerrain(
89 const std::string &_filename);
90
94 private: static HeightmapData *LoadImageAsTerrain(
95 const std::string &_filename);
96 };
98 }
99}
100#endif
common
Definition FuelModelDatabase.hh:37
Helper class for loading heightmap data.
Definition HeightmapData.hh:75
static HeightmapData * LoadTerrainFile(const std::string &_filename)
Load a terrain file specified by _filename.
Encapsulates a generic heightmap data file.
Definition HeightmapData.hh:40
virtual unsigned int GetWidth() const =0
Get the terrain's width.
virtual unsigned int GetHeight() const =0
Get the terrain's height.
virtual float GetMaxElevation() const =0
Get the maximum terrain's elevation.
virtual void FillHeightMap(int _subSampling, unsigned int _vertSize, const ignition::math::Vector3d &_size, const ignition::math::Vector3d &_scale, bool _flipY, std::vector< float > &_heights)=0
Create a lookup table of the terrain's height.
virtual ~HeightmapData()
Destructor.
Definition HeightmapData.hh:42
Forward declarations for the common classes.
Definition Animation.hh:27