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src
gz-common
geospatial
include
gz
common
geospatial
gz/common/geospatial/Dem.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_COMMON_GEOSPATIAL_DEM_HH_
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#define GZ_COMMON_GEOSPATIAL_DEM_HH_
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#include <memory>
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#include <string>
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#include <vector>
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#include <gz/math/Vector3.hh>
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#include <gz/math/Angle.hh>
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#include <gz/math/SphericalCoordinates.hh>
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#include <gz/common/geospatial/Export.hh>
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#include <
gz/common/geospatial/HeightmapData.hh
>
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#include <gz/utils/ImplPtr.hh>
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namespace
gz
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{
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namespace
common
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{
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class
GZ_COMMON_GEOSPATIAL_VISIBLE
Dem
:
public
HeightmapData
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{
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public
:
Dem
();
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public
:
virtual
~Dem
();
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public
:
void
SetSphericalCoordinates
(
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const
math::SphericalCoordinates
&_worldSphericalCoordinates);
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public
:
unsigned
int
RasterXSizeLimit
();
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public
:
void
SetRasterXSizeLimit
(
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const
unsigned
int
&_xLimit);
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public
:
unsigned
int
RasterYSizeLimit
();
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public
:
void
SetRasterYSizeLimit
(
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const
unsigned
int
&_yLimit);
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public
:
int
Load
(
const
std::string
&_filename =
""
);
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public
:
double
Elevation
(
double
_x,
double
_y);
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public
:
float
MinElevation
()
const override
;
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public
:
float
MaxElevation
()
const override
;
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public
:
bool
GeoReferenceOrigin
(
gz::math::Angle
&_latitude,
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gz::math::Angle
&_longitude)
const
;
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public
:
unsigned
int
Height
()
const override
;
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public
:
unsigned
int
Width
()
const override
;
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public
:
double
WorldWidth
()
const
;
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public
:
double
WorldHeight
()
const
;
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public
:
void
FillHeightMap
(
const
int
_subSampling,
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const
unsigned
int
_vertSize,
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const
gz::math::Vector3d
&_size,
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const
gz::math::Vector3d
&_scale,
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const
bool
_flipY,
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std::vector<float>
&_heights)
const override
;
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private
:
bool
GeoReference(
double
_x,
double
_y,
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gz::math::Angle
&_latitude,
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gz::math::Angle
&_longitude)
const
;
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private
:
int
LoadData();
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// Documentation inherited.
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public
:
std::string
Filename
()
const override
;
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GZ_UTILS_IMPL_PTR(dataPtr)
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};
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}
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}
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#endif