#include <Dem.hh>

Public Member Functions
	Dem ()
	Constructor.

virtual	~Dem ()
	Destructor.

double	Elevation (double _x, double _y)
	Get the elevation of a terrain's point in meters.

std::string	Filename () const override
	Get the full filename of loaded heightmap image/dem.

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
	Create a lookup table of the terrain's height.

bool	GeoReferenceOrigin (gz::math::Angle &_latitude, gz::math::Angle &_longitude) const
	Get the georeferenced coordinates (lat, long) of the terrain's origin.

unsigned int	Height () const override
	Get the terrain's height. Due to the Ogre constrains, this value will be a power of two plus one. The value returned might be different that the original DEM height because Data() adds the padding if necessary.

int	Load (const std::string &_filename="")
	Load a DEM file.

float	MaxElevation () const override
	Get the terrain's maximum elevation in meters.

float	MinElevation () const override
	Get the terrain's minimum elevation in meters.

unsigned int	RasterXSizeLimit ()
	Gets the X size limit of the raster data to be loaded. This is useful for large raster files.

unsigned int	RasterYSizeLimit ()
	Gets the Y size limit of the raster data to be loaded. This is useful for large raster files.

void	SetRasterXSizeLimit (const unsigned int &_xLimit)
	Sets the X size limit of the raster data to be loaded. This is useful for large raster files.

void	SetRasterYSizeLimit (const unsigned int &_yLimit)
	Sets the Y size limit of the raster data to be loaded. This is useful for large raster files.

void	SetSphericalCoordinates (const math::SphericalCoordinates &_worldSphericalCoordinates)
	Sets the spherical coordinates reference object.

unsigned int	Width () const override
	Get the terrain's width. Due to the Ogre constrains, this value will be a power of two plus one. The value returned might be different that the original DEM width because GetData() adds the padding if necessary.

double	WorldHeight () const
	Get the real world height in meters.

double	WorldWidth () const
	Get the real world width in meters.

Public Member Functions inherited from HeightmapData
virtual	~HeightmapData ()=default
	Destructor.

Constructor & Destructor Documentation

◆ Dem()

Dem ( )

Constructor.

◆ ~Dem()

virtual ~Dem ( )

virtual

Destructor.

Member Function Documentation

◆ Elevation()

double Elevation	(	double	_x,
		double	_y
	)

Get the elevation of a terrain's point in meters.

Parameters

[in]	_x	X coordinate of the terrain in raster coordinates.
[in]	_y	Y coordinate of the terrain in raster coordinates.

Returns: Terrain's elevation at (x,y) in meters or infinity if illegal coordinates were provided.

◆ Filename()

std::string Filename ( ) const

overridevirtual

Get the full filename of loaded heightmap image/dem.

Returns: The filename used to load the heightmap image/dem

Implements HeightmapData.

◆ FillHeightMap()

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

overridevirtual

Create a lookup table of the terrain's height.

Parameters

[in]	_subsampling	Multiplier 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]	_vertSize	Number of points per row.
[in]	_size	Real dimmensions of the terrain in meters.
[in]	_scale	Vector3 used to scale the height.
[in]	_flipY	If true, it inverts the order in which the vector is filled.
[out]	_heights	Vector containing the terrain heights.

Implements HeightmapData.

◆ GeoReferenceOrigin()

bool GeoReferenceOrigin	(	gz::math::Angle &	_latitude,
		gz::math::Angle &	_longitude
	)		const

Get the georeferenced coordinates (lat, long) of the terrain's origin.

Parameters

[out]	_latitude	Georeferenced latitude.
[out]	_longitude	Georeferenced longitude.

Returns: True if able to retrieve origin coordinates. False otherwise.

◆ Height()

unsigned int Height ( ) const

overridevirtual

Get the terrain's height. Due to the Ogre constrains, this value will be a power of two plus one. The value returned might be different that the original DEM height because Data() adds the padding if necessary.

Returns: The terrain's height (points) satisfying the ogre constrains (squared terrain with a height value that must be a power of two plus one).

Implements HeightmapData.

◆ Load()

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

Load a DEM file.

Parameters

[in] _filename the path to the terrain file.

Returns: 0 when the operation succeeds to open a file.

◆ MaxElevation()

float MaxElevation ( ) const

overridevirtual

Get the terrain's maximum elevation in meters.

Returns: The maximum elevation (meters).

Implements HeightmapData.

◆ MinElevation()

float MinElevation ( ) const

overridevirtual

Get the terrain's minimum elevation in meters.

Returns: The minimum elevation (meters).

Reimplemented from HeightmapData.

◆ RasterXSizeLimit()

unsigned int RasterXSizeLimit ( )

Gets the X size limit of the raster data to be loaded. This is useful for large raster files.

Returns: The maximium size of the raster data to load in the X direction

◆ RasterYSizeLimit()

unsigned int RasterYSizeLimit ( )

Gets the Y size limit of the raster data to be loaded. This is useful for large raster files.

Returns: The maximium size of the raster data to load in the X direction

◆ SetRasterXSizeLimit()

void SetRasterXSizeLimit ( const unsigned int & _xLimit )

Sets the X size limit of the raster data to be loaded. This is useful for large raster files.

Parameters

[in] _xLimit The maximium size of the raster data to load in the X direction

◆ SetRasterYSizeLimit()

void SetRasterYSizeLimit ( const unsigned int & _yLimit )

Sets the Y size limit of the raster data to be loaded. This is useful for large raster files.

Parameters

[in] _yLimit The maximium size of the raster data to load in the X direction

◆ SetSphericalCoordinates()

void SetSphericalCoordinates ( const math::SphericalCoordinates & _worldSphericalCoordinates )

Sets the spherical coordinates reference object.

Parameters

[in] _worldSphericalCoordinates The spherical coordinates object contained in the world. This is used to compute accurate sizes of the DEM object.

◆ Width()

unsigned int Width ( ) const

overridevirtual

Get the terrain's width. Due to the Ogre constrains, this value will be a power of two plus one. The value returned might be different that the original DEM width because GetData() adds the padding if necessary.

Returns: The terrain's width (points) satisfying the ogre constrains (squared terrain with a width value that must be a power of two plus one).

Implements HeightmapData.

◆ WorldHeight()

double WorldHeight ( ) const

Get the real world height in meters.

Returns: Terrain's real world height in meters.

◆ WorldWidth()

double WorldWidth ( ) const

Get the real world width in meters.

Returns: Terrain's real world width in meters.

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

Dem.hh

Gazebo Common

API Reference

Public Member Functions

Constructor & Destructor Documentation

◆ Dem()

◆ ~Dem()

Member Function Documentation

◆ Elevation()

◆ Filename()

◆ FillHeightMap()

◆ GeoReferenceOrigin()

◆ Height()

◆ Load()

◆ MaxElevation()

◆ MinElevation()

◆ RasterXSizeLimit()

◆ RasterYSizeLimit()

◆ SetRasterXSizeLimit()

◆ SetRasterYSizeLimit()

◆ SetSphericalCoordinates()

◆ Width()

◆ WorldHeight()

◆ WorldWidth()