Gazebo Common

API Reference

3.17.0
ImageHeightmap Class Reference

Encapsulates an image that will be interpreted as a heightmap. More...

#include <ImageHeightmap.hh>

Public Member Functions

 ImageHeightmap ()
 Constructor. More...
 
std::string Filename () const
 Get the full filename of the image. More...
 
void FillHeightMap (int _subSampling, unsigned int _vertSize, const gz::math::Vector3d &_size, const gz::math::Vector3d &_scale, bool _flipY, std::vector< float > &_heights)
 Create a lookup table of the terrain's height. More...
 
unsigned int Height () const
 Get the terrain's height. More...
 
int Load (const std::string &_filename="")
 Load an image file as a heightmap. More...
 
float MaxElevation () const
 Get the maximum terrain's elevation. More...
 
unsigned int Width () const
 Get the terrain's width. More...
 
- Public Member Functions inherited from HeightmapData
virtual ~HeightmapData ()=default
 Destructor. More...
 

Detailed Description

Encapsulates an image that will be interpreted as a heightmap.

Constructor & Destructor Documentation

◆ ImageHeightmap()

Constructor.

Parameters
[in]_filenamethe path to the image

Member Function Documentation

◆ Filename()

std::string Filename ( ) const

Get the full filename of the image.

Returns
The filename used to load the image

◆ FillHeightMap()

void FillHeightMap ( int  _subSampling,
unsigned int  _vertSize,
const gz::math::Vector3d _size,
const gz::math::Vector3d _scale,
bool  _flipY,
std::vector< float > &  _heights 
)
virtual

Create a lookup table of the terrain's height.

Parameters
[in]_subsamplingMultiplier used to increase the resolution. Ex: A subsampling of 2 in a terrain of 129x129 means that the height vector will be 257 * 257.
[in]_vertSizeNumber of points per row.
[in]_sizeReal dimmensions of the terrain.
[in]_scaleVector3 used to scale the height.
[in]_flipYIf true, it inverts the order in which the vector is filled.
[out]_heightsVector containing the terrain heights.

Implements HeightmapData.

◆ Height()

unsigned int Height ( ) const
virtual

Get the terrain's height.

Returns
The terrain's height.

Implements HeightmapData.

◆ Load()

int Load ( const std::string _filename = "")

Load an image file as a heightmap.

Parameters
[in]_filenamethe path to the image file.
Returns
True when the operation succeeds to open a file.

◆ MaxElevation()

float MaxElevation ( ) const
virtual

Get the maximum terrain's elevation.

Returns
The maximum terrain's elevation.

Implements HeightmapData.

◆ Width()

unsigned int Width ( ) const
virtual

Get the terrain's width.

Returns
The terrain's width.

Implements HeightmapData.


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