mvsim::ElevationMap Class Reference

#include <ElevationMap.h>

Inheritance diagram for mvsim::ElevationMap:

Public Member Functions
	ElevationMap (World *parent, const rapidxml::xml_node< char > *root)
bool	getElevationAt (double x, double y, float &z) const
	return false if out of bounds More...
virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override
void	poses_mutex_lock () override
void	poses_mutex_unlock () override
virtual void	simul_post_timestep (const TSimulContext &context) override
virtual void	simul_pre_timestep (const TSimulContext &context) override
virtual	~ElevationMap ()
Public Member Functions inherited from mvsim::WorldElementBase
	WorldElementBase (World *parent)
virtual	~WorldElementBase ()
Public Member Functions inherited from mvsim::VisualObject
void	getVisualModelBoundingBox (mrpt::math::TPoint3D &bbmin, mrpt::math::TPoint3D &bbmax) const
World *	getWorldObject ()
const World *	getWorldObject () const
virtual void	guiUpdate (mrpt::opengl::COpenGLScene &scene)
void	showBoundingBox (bool show)
	VisualObject (World *parent)
virtual	~VisualObject ()
Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))
const b2Body *	b2d_body () const
b2Body *	b2d_body ()
mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...
const std::string &	getName () const
mrpt::math::TPose3D	getPose () const
mrpt::math::TTwist2D	getTwist () const
const mrpt::math::TTwist2D &	getVelocity () const
mrpt::math::TTwist2D	getVelocityLocal () const
bool	hadCollision () const
bool	isInCollision () const
virtual void	registerOnServer (mvsim::Client &c)
void	resetCollisionFlag ()
void	setName (const std::string &s)
void	setPose (const mrpt::math::TPose3D &p) const
void	setTwist (const mrpt::math::TTwist2D &dq) const

Protected Member Functions
virtual void	internalGuiUpdate (mrpt::opengl::COpenGLScene &scene, bool childrenOnly) override
Protected Member Functions inherited from mvsim::VisualObject
virtual mrpt::poses::CPose3D	internalGuiGetVisualPose ()
bool	parseVisual (const rapidxml::xml_node< char > *visual_node)

Protected Attributes
bool	m_first_scene_rendering
mrpt::opengl::CMesh::Ptr	m_gl_mesh
mrpt::math::CMatrixFloat	m_mesh_z_cache
double	m_resolution
Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glBoundingBox
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glCustomVisual
int32_t	m_glCustomVisualId = -1
World *	m_world
Protected Attributes inherited from mvsim::Simulable
std::string	m_name

Private Attributes
mrpt::tfest::TMatchingPairList	corrs
mrpt::poses::CPose3D	m_optimal_transf

Additional Inherited Members
Public Types inherited from mvsim::WorldElementBase
using	Ptr = std::shared_ptr< WorldElementBase >
Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >
Static Public Member Functions inherited from mvsim::WorldElementBase
static Ptr	factory (World *parent, const rapidxml::xml_node< char > *xml_node, const char *class_name=nullptr)

Detailed Description

Definition at line 20 of file ElevationMap.h.

Constructor & Destructor Documentation

ElevationMap::ElevationMap	(	World *	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 24 of file ElevationMap.cpp.

ElevationMap::~ElevationMap ( )

virtual

Definition at line 30 of file ElevationMap.cpp.

Member Function Documentation

bool ElevationMap::getElevationAt	(	double	x,
		double	y,
		float &	z
	)		const

return false if out of bounds

Definition at line 291 of file ElevationMap.cpp.

void ElevationMap::internalGuiUpdate ( mrpt::opengl::COpenGLScene &  scene, bool  childrenOnly  )

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 127 of file ElevationMap.cpp.

void ElevationMap::loadConfigFrom ( const rapidxml::xml_node< char > *  root )

overridevirtual

Implements mvsim::WorldElementBase.

Definition at line 31 of file ElevationMap.cpp.

void mvsim::ElevationMap::poses_mutex_lock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 34 of file ElevationMap.h.

void mvsim::ElevationMap::poses_mutex_unlock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 35 of file ElevationMap.h.

void ElevationMap::simul_post_timestep ( const TSimulContext &  context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update m_q, m_dq)

Reimplemented from mvsim::Simulable.

Definition at line 265 of file ElevationMap.cpp.

void ElevationMap::simul_pre_timestep ( const TSimulContext &  context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 145 of file ElevationMap.cpp.

Member Data Documentation

mrpt::tfest::TMatchingPairList mvsim::ElevationMap::corrs

private

Definition at line 51 of file ElevationMap.h.

bool mvsim::ElevationMap::m_first_scene_rendering

protected

Definition at line 44 of file ElevationMap.h.

mrpt::opengl::CMesh::Ptr mvsim::ElevationMap::m_gl_mesh

protected

This object holds both, the mesh data, and is in charge of 3D rendering.

Definition at line 43 of file ElevationMap.h.

mrpt::math::CMatrixFloat mvsim::ElevationMap::m_mesh_z_cache

protected

A copy of elevation data in m_gl_mesh. Coordinate order is (y,x)

Definition at line 47 of file ElevationMap.h.

mrpt::poses::CPose3D mvsim::ElevationMap::m_optimal_transf

private

Definition at line 52 of file ElevationMap.h.

double mvsim::ElevationMap::m_resolution

protected

Definition at line 45 of file ElevationMap.h.

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The documentation for this class was generated from the following files:

• ElevationMap.h
• ElevationMap.cpp