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18 #ifndef _GAZEBO_DEM_HH_
19 #define _GAZEBO_DEM_HH_
21 #include <ignition/math/Vector3.hh>
22 #include <ignition/math/Angle.hh>
24 #include <gazebo/gazebo_config.h>
55 public:
int Load(
const std::string &_filename=
"");
76 ignition::math::Angle &_longitude)
const;
115 const unsigned int _vertSize,
116 const ignition::math::Vector3d &_size,
117 const ignition::math::Vector3d &_scale,
119 std::vector<float> &_heights);
127 private:
void GetGeoReference(
double _x,
double _y,
128 ignition::math::Angle &_latitude,
129 ignition::math::Angle &_longitude)
const;
135 private:
int LoadData();
139 private: DemPrivate *dataPtr;
Encapsulates a generic heightmap data file.
Definition: HeightmapData.hh:40
Forward declarations for the common classes.
Definition: Animation.hh:27
unsigned int GetHeight() const
Get the terrain's height.
void FillHeightMap(const int _subSampling, const unsigned int _vertSize, const ignition::math::Vector3d &_size, const ignition::math::Vector3d &_scale, const bool _flipY, std::vector< float > &_heights)
Create a lookup table of the terrain's height.
common
Definition: FuelModelDatabase.hh:37
void GetGeoReferenceOrigin(ignition::math::Angle &_latitude, ignition::math::Angle &_longitude) const
Get the georeferenced coordinates (lat, long) of the terrain's origin in WGS84.
int Load(const std::string &_filename="")
Load a DEM file.
float GetMaxElevation() const
Get the terrain's maximum elevation in meters.
unsigned int GetWidth() const
Get the terrain's width.
float GetMinElevation() const
Get the terrain's minimum elevation in meters.
double GetElevation(double _x, double _y)
Get the elevation of a terrain's point in meters.
virtual ~Dem()
Destructor.
double GetWorldWidth() const
Get the real world width in meters.
double GetWorldHeight() const
Get the real world height in meters.