Gazebo Physics

API Reference

8.0.0
HeightmapShape.hh
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1/*
2 * Copyright (C) 2021 Open Source Robotics Foundation
3 *
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
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11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
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17
18#ifndef GZ_PHYSICS_HEIGHTMAP_HEIGHTMAPSHAPE_HH_
19#define GZ_PHYSICS_HEIGHTMAP_HEIGHTMAPSHAPE_HH_
20
21#include <string>
22
24
27
28namespace gz
29{
30namespace physics
31{
32namespace heightmap
33{
34 GZ_PHYSICS_DECLARE_SHAPE_TYPE(HeightmapShape)
35
36
37 class GetHeightmapShapeProperties
38 : public virtual FeatureWithRequirements<HeightmapShapeCast>
39 {
40 public: template <typename PolicyT, typename FeaturesT>
41 class HeightmapShape : public virtual Entity<PolicyT, FeaturesT>
42 {
43 public: using Dimensions =
44 typename FromPolicy<PolicyT>::template Use<LinearVector>;
45
48 public: Dimensions GetSize() const;
49 };
50
51 public: template <typename PolicyT>
52 class Implementation : public virtual Feature::Implementation<PolicyT>
53 {
54 public: using Dimensions =
55 typename FromPolicy<PolicyT>::template Use<LinearVector>;
56
57 public: virtual Dimensions GetHeightmapShapeSize(
58 const Identity &_heightmapID) const = 0;
59 };
60 };
61
65 : public virtual FeatureWithRequirements<HeightmapShapeCast>
66 {
67 public: template <typename PolicyT, typename FeaturesT>
68 class Link : public virtual Feature::Link<PolicyT, FeaturesT>
69 {
70 public: using PoseType =
71 typename FromPolicy<PolicyT>::template Use<Pose>;
72
73 public: using Dimensions =
74 typename FromPolicy<PolicyT>::template Use<LinearVector>;
75
76 public: using ShapePtrType = HeightmapShapePtr<PolicyT, FeaturesT>;
77
85 const std::string &_name,
86 const common::HeightmapData &_heightmapData,
87 const PoseType &_pose,
88 const Dimensions &_size,
89 int _subSampling = 1);
90 };
91
92 public: template <typename PolicyT>
93 class Implementation : public virtual Feature::Implementation<PolicyT>
94 {
95 public: using PoseType =
96 typename FromPolicy<PolicyT>::template Use<Pose>;
97
98 public: using Dimensions =
99 typename FromPolicy<PolicyT>::template Use<LinearVector>;
100
101 public: virtual Identity AttachHeightmapShape(
102 const Identity &_linkID,
103 const std::string &_name,
104 const common::HeightmapData &_heightmapData,
105 const PoseType &_pose,
106 const Dimensions &_size,
107 int _subSampling) = 0;
108 };
109 };
110}
111}
112}
113
114#include <gz/physics/heightmap/detail/HeightmapShape.hh>
115
116#endif // GZ_PHYSICS_HEIGHTMAP_HEIGHTMAPSHAPE_HH_