Dem.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
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13  * See the License for the specific language governing permissions and
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16 */
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
Definition: Dem.hh:44
Forward declarations for the common classes.
Definition: Animation.hh:33
Encapsulates a generic heightmap data file.
Definition: HeightmapData.hh:39