Holds the height and slope information of the terrain. More...

#include <height_map.h>

Inheritance diagram for towr::HeightMap:

[legend]

Public Types
enum	Direction { Normal, Tangent1, Tangent2 }

using	Ptr = std::shared_ptr< HeightMap >

enum	TerrainID { FlatID, BlockID, StairsID, GapID, SlopeID, ChimneyID, ChimneyLRID, TERRAIN_COUNT }
	Terrains IDs corresponding for factory method. More...

using	Vector3d = Eigen::Vector3d

Public Member Functions
double	GetDerivativeOfHeightWrt (Dim2D dim, double x, double y) const
	How the height value changes at a 2D position in direction dim. More...

Vector3d	GetDerivativeOfNormalizedBasisWrt (Direction direction, Dim2D dim, double x, double y) const
	How the terrain normal/tangent vectors change when moving in x or y. More...

double	GetFrictionCoeff () const

virtual double	GetHeight (double x, double y) const =0

Vector3d	GetNormalizedBasis (Direction direction, double x, double y) const
	Returns either the vector normal or tangent to the terrain patch. More...

	HeightMap ()=default

virtual	~HeightMap ()=default

Static Public Member Functions
static HeightMap::Ptr	MakeTerrain (TerrainID type)

Protected Attributes
double	friction_coeff_ = 0.5

Private Types
using	DimDerivs = std::vector< Dim2D >
	dimensional derivatives More...

Private Member Functions
Vector3d	GetBasis (Direction direction, double x, double y, const DimDerivs &dim_deriv={}) const
	returns either the terrain normal/tangent or its derivative. More...

Vector3d	GetDerivativeOfNormalizedVectorWrtNonNormalizedIndex (const Vector3d &non_normalized, int index) const

virtual double	GetHeightDerivWrtX (double x, double y) const

virtual double	GetHeightDerivWrtXX (double x, double y) const

virtual double	GetHeightDerivWrtXY (double x, double y) const

virtual double	GetHeightDerivWrtY (double x, double y) const

virtual double	GetHeightDerivWrtYX (double x, double y) const

virtual double	GetHeightDerivWrtYY (double x, double y) const

Vector3d	GetNormal (double x, double y, const DimDerivs &={}) const

double	GetSecondDerivativeOfHeightWrt (Dim2D dim1, Dim2D dim2, double x, double y) const

Vector3d	GetTangent1 (double x, double y, const DimDerivs &={}) const

Vector3d	GetTangent2 (double x, double y, const DimDerivs &={}) const

Detailed Description

Holds the height and slope information of the terrain.

This class is responsible for providing the height values and slope at each position (x,y). Examples of various height map examples can be found in height_map_examples.h.

If a height map of the terrain already exists, e.g. Octomap/Gridmap, then a simple adapter for these can be written to comply to this minimal interface and to be used with towr.

The height map is used to formulate constraints such as "foot must be touching terrain during stance phase".

See also: TerrainConstraint

Definition at line 71 of file height_map.h.

Member Typedef Documentation

using towr::HeightMap::DimDerivs = std::vector<Dim2D>

private

dimensional derivatives

Definition at line 139 of file height_map.h.

using towr::HeightMap::Ptr = std::shared_ptr<HeightMap>

Definition at line 73 of file height_map.h.

using towr::HeightMap::Vector3d = Eigen::Vector3d

Definition at line 74 of file height_map.h.

Member Enumeration Documentation

enum towr::HeightMap::Direction

Enumerator
Normal
Tangent1
Tangent2

Definition at line 90 of file height_map.h.

enum towr::HeightMap::TerrainID

Terrains IDs corresponding for factory method.

Enumerator
FlatID
BlockID
StairsID
GapID
SlopeID
ChimneyID
ChimneyLRID
TERRAIN_COUNT

Definition at line 79 of file height_map.h.

Constructor & Destructor Documentation

towr::HeightMap::HeightMap ( )

default

virtual towr::HeightMap::~HeightMap ( )

virtualdefault

Member Function Documentation

HeightMap::Vector3d towr::HeightMap::GetBasis	(	Direction	direction,
		double	x,
		double	y,
		const DimDerivs &	dim_deriv = `{}`
	)		const

private

returns either the terrain normal/tangent or its derivative.

Parameters

direction	Terrain normal or tangent vector.
x	The x position on the terrain.
y	The y position on the terrain.
dim_deriv	If empty, the vector is returned, if e.g. X_ is set, the derivative of the vector w.r.t. x is returned.

Returns: the 3D not-normalized vector.

Definition at line 69 of file height_map.cc.

double towr::HeightMap::GetDerivativeOfHeightWrt	(	Dim2D	dim,
		double	x,
		double	y
	)		const

How the height value changes at a 2D position in direction dim.

Parameters

dim	The direction (x,y) w.r.t. which the height change is desired.
x	The x position on the terrain.
y	The y position on the terrain.

Returns: The derivative of the height with respect to the dimension.

Definition at line 53 of file height_map.cc.

HeightMap::Vector3d towr::HeightMap::GetDerivativeOfNormalizedBasisWrt	(	Direction	direction,
		Dim2D	dim,
		double	x,
		double	y
	)		const

How the terrain normal/tangent vectors change when moving in x or y.

Parameters

direction	The terrain normal or tangent vectors.
dim	The dimension w.r.t which the change is searched for.
x	The x position on the terrain.
y	The y position on the terrain.

Returns: The normalized 3D derivative w.r.t dimension dim.

Definition at line 81 of file height_map.cc.

HeightMap::Vector3d towr::HeightMap::GetDerivativeOfNormalizedVectorWrtNonNormalizedIndex	(	const Vector3d &	non_normalized,
		int	index
	)		const

private

Definition at line 142 of file height_map.cc.

double towr::HeightMap::GetFrictionCoeff ( ) const

inline

Returns: The constant friction coefficient over the whole terrain.

Definition at line 133 of file height_map.h.

virtual double towr::HeightMap::GetHeight	(	double	x,
		double	y
	)		const

pure virtual

Returns: The height of the terrain [m] at a specific 2D position.

Parameters

x	The x position.
y	The y position.

Implemented in towr::ChimneyLR, towr::Chimney, towr::Slope, towr::Gap, towr::Stairs, towr::Block, and towr::FlatGround.

virtual double towr::HeightMap::GetHeightDerivWrtX	(	double	x,
		double	y
	)		const

inlineprivatevirtual

Reimplemented in towr::Slope, towr::Gap, and towr::Block.

Definition at line 163 of file height_map.h.

virtual double towr::HeightMap::GetHeightDerivWrtXX	(	double	x,
		double	y
	)		const

inlineprivatevirtual

Reimplemented in towr::Gap.

Definition at line 167 of file height_map.h.

virtual double towr::HeightMap::GetHeightDerivWrtXY	(	double	x,
		double	y
	)		const

inlineprivatevirtual

Definition at line 168 of file height_map.h.

virtual double towr::HeightMap::GetHeightDerivWrtY	(	double	x,
		double	y
	)		const

inlineprivatevirtual

Reimplemented in towr::ChimneyLR, and towr::Chimney.

Definition at line 164 of file height_map.h.

virtual double towr::HeightMap::GetHeightDerivWrtYX	(	double	x,
		double	y
	)		const

inlineprivatevirtual

Definition at line 169 of file height_map.h.

virtual double towr::HeightMap::GetHeightDerivWrtYY	(	double	x,
		double	y
	)		const

inlineprivatevirtual

Definition at line 170 of file height_map.h.

HeightMap::Vector3d towr::HeightMap::GetNormal	(	double	x,
		double	y,
		const DimDerivs &	deriv = `{}`
	)		const

private

Definition at line 94 of file height_map.cc.

HeightMap::Vector3d towr::HeightMap::GetNormalizedBasis	(	Direction	direction,
		double	x,
		double	y
	)		const

Returns either the vector normal or tangent to the terrain patch.

Parameters

direction	The terrain normal or tangent vectors.
x	The x position on the terrain.
y	The y position on the terrain.

Returns: The normalized 3D vector in the specified direction.

Definition at line 63 of file height_map.cc.

double towr::HeightMap::GetSecondDerivativeOfHeightWrt	(	Dim2D	dim1,
		Dim2D	dim2,
		double	x,
		double	y
	)		const

private

Definition at line 151 of file height_map.cc.

HeightMap::Vector3d towr::HeightMap::GetTangent1	(	double	x,
		double	y,
		const DimDerivs &	deriv = `{}`
	)		const

private

Definition at line 113 of file height_map.cc.

HeightMap::Vector3d towr::HeightMap::GetTangent2	(	double	x,
		double	y,
		const DimDerivs &	deriv = `{}`
	)		const

private

Definition at line 128 of file height_map.cc.

HeightMap::Ptr towr::HeightMap::MakeTerrain ( TerrainID type )

static

Definition at line 38 of file height_map.cc.

Member Data Documentation

double towr::HeightMap::friction_coeff_ = 0.5

protected

Definition at line 136 of file height_map.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Types

Private Member Functions

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation