73 lines
2.6 KiB
C++
73 lines
2.6 KiB
C++
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/*
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* Copyright (C) 2018 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_PLUGINS_STATICMAPPLUGIN_HH_
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#define GAZEBO_PLUGINS_STATICMAPPLUGIN_HH_
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#include <string>
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#include <memory>
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#include <gazebo/common/Plugin.hh>
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \brief Forward declarations
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class StaticMapPluginPrivate;
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/// \brief A plugin that creates a model with textured map images.
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/// Map tiles are downloaded using Google Static Maps API:
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/// https://developers.google.com/maps/documentation/static-maps
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/// The map tiles are used as texture images to create a map model in the
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/// world.
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///
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/// The plugin requires the following parameters:
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/// <center> Center (latitude and longitude) of map
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/// <world_size> Target size of world to cover (in meters). The plugin will
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/// fetch enough tiles to create a model that is larger than
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/// the specified size.
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/// <api_key> Google API key
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///
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/// optional parameters:
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/// <model_name> Name of map model
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/// <pose> Pose of map model in the world
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/// <zoom> Zoom level from 0 (entire world) to 21+ (streets)
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/// <map_type> Type of map to use: roadmap, satellite, terrain, hybrid
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/// <tile_size> Size of map tiles in pixels. Max of 640 for standard usage
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/// (only standard usage is supported). See Google Static Maps
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/// API documentation for more details.
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/// <use_cache> Use model in gazebo model path if exists, otherwise
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/// recreate the model and save it in <HOME>/.gazebo/models
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class GAZEBO_VISIBLE StaticMapPlugin : public WorldPlugin
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{
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/// \brief Constructor.
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public: StaticMapPlugin();
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/// \brief Load the plugin.
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/// \param[in] _world Pointer to world
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/// \param[in] _sdf Pointer to the SDF configuration.
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public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);
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/// \brief Initialize the plugin.
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public: virtual void Init();
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/// \brief Pointer to private data.
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private: std::unique_ptr<StaticMapPluginPrivate> dataPtr;
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};
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}
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#endif
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