Gazebo Common

API Reference

5.6.0
gz/common/geospatial/Dem.hh
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2  * Copyright (C) 2022 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.
6  * You may obtain a copy of the License at
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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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17 #ifndef GZ_COMMON_GEOSPATIAL_DEM_HH_
18 #define GZ_COMMON_GEOSPATIAL_DEM_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <vector>
23 
24 #include <gz/math/Vector3.hh>
25 #include <gz/math/Angle.hh>
26 #include <gz/math/SphericalCoordinates.hh>
27 
28 #include <gz/common/geospatial/Export.hh>
30 
31 #include <gz/utils/ImplPtr.hh>
32 
33 
34 namespace gz
35 {
36  namespace common
37  {
40  class GZ_COMMON_GEOSPATIAL_VISIBLE Dem : public HeightmapData
41  {
43  public: Dem();
44 
46  public: virtual ~Dem();
47 
53  const math::SphericalCoordinates &_worldSphericalCoordinates);
54 
59  public: unsigned int RasterXSizeLimit();
60 
65  public: void SetRasterXSizeLimit(
66  const unsigned int &_xLimit);
67 
72  public: unsigned int RasterYSizeLimit();
73 
78  public: void SetRasterYSizeLimit(
79  const unsigned int &_yLimit);
80 
84  public: int Load(const std::string &_filename = "");
85 
91  public: double Elevation(double _x, double _y);
92 
95  public: float MinElevation() const override;
96 
99  public: float MaxElevation() const override;
100 
106  public: bool GeoReferenceOrigin(gz::math::Angle &_latitude,
107  gz::math::Angle &_longitude) const;
108 
116  public: unsigned int Height() const override;
117 
125  public: unsigned int Width() const override;
126 
129  public: double WorldWidth() const;
130 
133  public: double WorldHeight() const;
134 
145  public: void FillHeightMap(const int _subSampling,
146  const unsigned int _vertSize,
147  const gz::math::Vector3d &_size,
148  const gz::math::Vector3d &_scale,
149  const bool _flipY,
150  std::vector<float> &_heights) const override;
151 
159  private: bool GeoReference(double _x, double _y,
160  gz::math::Angle &_latitude,
161  gz::math::Angle &_longitude) const;
162 
167  private: int LoadData();
168 
169  // Documentation inherited.
170  public: std::string Filename() const override;
171 
174  GZ_UTILS_IMPL_PTR(dataPtr)
175  };
176  }
177 }
178 #endif