82 lines
2.6 KiB
C++
82 lines
2.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_IMAGE_HEIGHTMAP_DATA_HH_
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#define _GAZEBO_IMAGE_HEIGHTMAP_DATA_HH_
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#include <string>
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#include <vector>
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#include <ignition/math/Vector3.hh>
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#include "gazebo/common/HeightmapData.hh"
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#include "gazebo/common/Image.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace common
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{
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/// \addtogroup gazebo_common Common
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/// \{
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/// \class ImageHeightmap ImageHeightmap.hh common/common.hh
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/// \brief Encapsulates an image that will be interpreted as a heightmap.
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class GZ_COMMON_VISIBLE ImageHeightmap
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: public gazebo::common::HeightmapData
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{
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/// \brief Constructor
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/// \param[in] _filename the path to the image
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public: ImageHeightmap();
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/// \brief Load an image file as a heightmap.
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/// \param[in] _filename the path to the image file.
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/// \return True when the operation succeeds to open a file.
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public: int Load(const std::string &_filename="");
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// Documentation inherited.
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public: void FillHeightMap(int _subSampling, unsigned int _vertSize,
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const math::Vector3 &_size, const math::Vector3 &_scale, bool _flipY,
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std::vector<float> &_heights);
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// Documentation inherited.
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public: void FillHeightMap(int _subSampling, unsigned int _vertSize,
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const ignition::math::Vector3d &_size,
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const ignition::math::Vector3d &_scale, bool _flipY,
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std::vector<float> &_heights);
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/// \brief Get the full filename of the image
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/// \return The filename used to load the image
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public: std::string GetFilename() const;
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// Documentation inherited.
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public: unsigned int GetHeight() const;
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// Documentation inherited.
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public: unsigned int GetWidth() const;
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// Documentation inherited.
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public: float GetMaxElevation() const;
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/// \brief Image containing the heightmap data.
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private: gazebo::common::Image img;
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};
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/// \}
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}
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}
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#endif
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