Dem.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 
18 #ifndef _GAZEBO_DEM_HH_
19 #define _GAZEBO_DEM_HH_
20 
21 #include <ignition/math/Vector3.hh>
22 #include <ignition/math/Angle.hh>
23 
24 #include <gazebo/gazebo_config.h>
25 #include <gazebo/util/system.hh>
26 
27 #ifdef HAVE_GDAL
28 # include <string>
29 # include <vector>
30 
32 
33 namespace gazebo
34 {
35  namespace common
36  {
37  class DemPrivate;
38 
41 
44  class GZ_COMMON_VISIBLE Dem : public HeightmapData
45  {
47  public: Dem();
48 
50  public: virtual ~Dem();
51 
55  public: int Load(const std::string &_filename="");
56 
61  public: double GetElevation(double _x, double _y);
62 
65  public: float GetMinElevation() const;
66 
69  public: float GetMaxElevation() const;
70 
75  public: void GetGeoReferenceOrigin(ignition::math::Angle &_latitude,
76  ignition::math::Angle &_longitude) const;
77 
85  public: unsigned int GetHeight() const;
86 
94  public: unsigned int GetWidth() const;
95 
98  public: double GetWorldWidth() const;
99 
102  public: double GetWorldHeight() const;
103 
114  public: void FillHeightMap(const int _subSampling,
115  const unsigned int _vertSize,
116  const ignition::math::Vector3d &_size,
117  const ignition::math::Vector3d &_scale,
118  const bool _flipY,
119  std::vector<float> &_heights);
120 
127  private: void GetGeoReference(double _x, double _y,
128  ignition::math::Angle &_latitude,
129  ignition::math::Angle &_longitude) const;
130 
135  private: int LoadData();
136 
139  private: DemPrivate *dataPtr;
140  };
142  }
143 }
144 #endif
145 #endif
common
Definition: FuelModelDatabase.hh:42
Definition: Dem.hh:45
unsigned int GetHeight() const
Get the terrain's height.
float GetMaxElevation() const
Get the terrain's maximum elevation in meters.
Dem()
Constructor.
unsigned int GetWidth() const
Get the terrain's width.
virtual ~Dem()
Destructor.
void GetGeoReferenceOrigin(ignition::math::Angle &_latitude, ignition::math::Angle &_longitude) const
Get the georeferenced coordinates (lat, long) of the terrain's origin in WGS84.
double GetWorldWidth() const
Get the real world width in meters.
int Load(const std::string &_filename="")
Load a DEM file.
float GetMinElevation() const
Get the terrain's minimum elevation in meters.
double GetWorldHeight() const
Get the real world height in meters.
void FillHeightMap(const int _subSampling, const unsigned int _vertSize, const ignition::math::Vector3d &_size, const ignition::math::Vector3d &_scale, const bool _flipY, std::vector< float > &_heights)
Create a lookup table of the terrain's height.
double GetElevation(double _x, double _y)
Get the elevation of a terrain's point in meters.
Encapsulates a generic heightmap data file.
Definition: HeightmapData.hh:40
Forward declarations for the common classes.
Definition: Animation.hh:27