gz/common/Dem.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_COMMON_DEM_HH_
#define IGNITION_COMMON_DEM_HH_
 
#include <memory>
#include <gz/math/Vector3.hh>
#include <gz/math/Angle.hh>
 
#include <gz/common/config.hh>
#include <gz/common/graphics/Export.hh>
 
#include <ignition/utils/ImplPtr.hh>
 
#ifdef HAVE_GDAL
# include <string>
# include <vector>
 
# include <ignition/common/HeightmapData.hh>
 
namespace ignition
{
  namespace common
  {
    class IGNITION_COMMON_GRAPHICS_VISIBLE Dem : public HeightmapData
    {
      public: Dem();
 
      public: virtual ~Dem();
 
      public: int Load(const std::string &_filename = "");
 
      public: double Elevation(double _x, double _y);
 
      public: float MinElevation() const;
 
      public: float MaxElevation() const;
 
      public: void GeoReferenceOrigin(ignition::math::Angle &_latitude,
                  ignition::math::Angle &_longitude) const;
 
      public: unsigned int Height() const;
 
      public: unsigned int Width() const;
 
      public: double WorldWidth() const;
 
      public: double WorldHeight() const;
 
      public: 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);
 
      private: void GeoReference(double _x, double _y,
                                 ignition::math::Angle &_latitude,
                                 ignition::math::Angle &_longitude) const;
 
      private: int LoadData();
 
      IGN_UTILS_IMPL_PTR(dataPtr)
    };
  }
}
#endif
#endif