ImageHeightmap.hh
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1 /*
2  * Copyright (C) 2012 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.
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_IMAGE_HEIGHTMAP_DATA_HH_
19 #define _GAZEBO_IMAGE_HEIGHTMAP_DATA_HH_
20 
21 #include <string>
22 #include <vector>
23 #include <ignition/math/Vector3.hh>
24 
26 #include "gazebo/common/Image.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace common
32  {
35 
38  class GZ_COMMON_VISIBLE ImageHeightmap
40  {
43  public: ImageHeightmap();
44 
48  public: int Load(const std::string &_filename="");
49 
50  // Documentation inherited.
51  public: void FillHeightMap(int _subSampling, unsigned int _vertSize,
52  const ignition::math::Vector3d &_size,
53  const ignition::math::Vector3d &_scale, bool _flipY,
54  std::vector<float> &_heights);
55 
58  public: std::string GetFilename() const;
59 
60  // Documentation inherited.
61  public: unsigned int GetHeight() const;
62 
63  // Documentation inherited.
64  public: unsigned int GetWidth() const;
65 
66  // Documentation inherited.
67  public: float GetMaxElevation() const;
68 
70  private: gazebo::common::Image img;
71  };
73  }
74 }
75 #endif
Encapsulates a generic heightmap data file.
Definition: HeightmapData.hh:40
Forward declarations for the common classes.
Definition: Animation.hh:27
void FillHeightMap(int _subSampling, unsigned int _vertSize, const ignition::math::Vector3d &_size, const ignition::math::Vector3d &_scale, bool _flipY, std::vector< float > &_heights)
Create a lookup table of the terrain's height.
std::string GetFilename() const
Get the full filename of the image.
common
Definition: FuelModelDatabase.hh:37
Encapsulates an image.
Definition: Image.hh:75
int Load(const std::string &_filename="")
Load an image file as a heightmap.
ImageHeightmap()
Constructor.
float GetMaxElevation() const
Get the maximum terrain's elevation.
unsigned int GetWidth() const
Get the terrain's width.
unsigned int GetHeight() const
Get the terrain's height.
Encapsulates an image that will be interpreted as a heightmap.
Definition: ImageHeightmap.hh:40