Dem.hh

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/*
 * Copyright (C) 2022 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 GZ_COMMON_GEOSPATIAL_DEM_HH_
#define GZ_COMMON_GEOSPATIAL_DEM_HH_
 
#include <memory>
#include <string>
#include <vector>
 
#include <gz/math/Vector3.hh>
#include <gz/math/Angle.hh>
#include <gz/math/SphericalCoordinates.hh>
 
#include <gz/common/geospatial/Export.hh>
#include <gz/common/geospatial/HeightmapData.hh>
 
#include <gz/utils/ImplPtr.hh>
 
 
namespace gz
{
  namespace common
  {
    class GZ_COMMON_GEOSPATIAL_VISIBLE Dem : public HeightmapData
    {
      public: Dem();
 
      public: virtual ~Dem();
 
      public: void SetSphericalCoordinates(
                  const math::SphericalCoordinates &_worldSphericalCoordinates);
 
      public: unsigned int RasterXSizeLimit();
 
      public: void SetRasterXSizeLimit(
                  const unsigned int &_xLimit);
 
      public: unsigned int RasterYSizeLimit();
 
      public: void SetRasterYSizeLimit(
                  const unsigned int &_yLimit);
 
      public: int Load(const std::string &_filename = "");
 
      public: double Elevation(double _x, double _y);
 
      public: float MinElevation() const override;
 
      public: float MaxElevation() const override;
 
      public: bool GeoReferenceOrigin(gz::math::Angle &_latitude,
                  gz::math::Angle &_longitude) const;
 
      public: unsigned int Height() const override;
 
      public: unsigned int Width() const override;
 
      public: double WorldWidth() const;
 
      public: double WorldHeight() const;
 
      public: void FillHeightMap(const int _subSampling,
                  const unsigned int _vertSize,
                  const gz::math::Vector3d &_size,
                  const gz::math::Vector3d &_scale,
                  const bool _flipY,
                  std::vector<float> &_heights) const override;
 
      private: bool GeoReference(double _x, double _y,
                                 gz::math::Angle &_latitude,
                                 gz::math::Angle &_longitude) const;
 
      private: int LoadData();
 
      // Documentation inherited.
      public: std::string Filename() const override;
 
      GZ_UTILS_IMPL_PTR(dataPtr)
    };
  }
}
#endif