ElevationMap.h

Go to the documentation of this file.

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/img/CImage.h>
#include <mrpt/opengl/CMesh.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/tfest/TMatchingPair.h>
#include <mvsim/WorldElements/WorldElementBase.h>

namespace mvsim
{
class ElevationMap : public WorldElementBase
{
        DECLARES_REGISTER_WORLD_ELEMENT(ElevationMap)
   public:
        ElevationMap(World* parent, const rapidxml::xml_node<char>* root);
        virtual ~ElevationMap();

        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;

        virtual void simul_pre_timestep(const TSimulContext& context) override;
        virtual void simul_post_timestep(const TSimulContext& context) override;

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

   protected:
        virtual void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
                bool childrenOnly) override;

        mrpt::opengl::CMesh::Ptr gl_mesh_;
        std::shared_ptr<mrpt::opengl::CPointCloud> gl_debugWheelsContactPoints_;
        bool firstSceneRendering_ = true;
        float resolution_ = 1.0f;

        float textureExtensionX_ = 0;  
        float textureExtensionY_ = 0;  

        mrpt::math::CMatrixFloat meshCacheZ_;

        bool debugShowContactPoints_ = false;

   private:
        // temp vars (declared here to avoid reallocs):
        mrpt::tfest::TMatchingPairList corrs_;
        mrpt::poses::CPose3D optimalTf_;
};
}  // namespace mvsim