towr::Gap Class Reference

Sample terrain with parabola-modeled gap in x-direction. More...

#include <height_map_examples.h>

Inheritance diagram for towr::Gap:

Public Member Functions
double	GetHeight (double x, double y) const override
double	GetHeightDerivWrtX (double x, double y) const override
double	GetHeightDerivWrtXX (double x, double y) const override
Public Member Functions inherited from towr::HeightMap
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
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

Private Attributes
const double	a = (4*h)/(w*w)
const double	b = -(8*h*xc)/(w*w)
const double	c = -(h*(w - 2*xc)*(w + 2*xc))/(w*w)
const double	dx = w/2.0
const double	gap_end_x = gap_start_ + w
const double	gap_start_ = 1.0
const double	h = 1.5
const double	slope_ = h/w
const double	w = 0.5
const double	xc = gap_start_ + dx

Additional Inherited Members
Public Types inherited from towr::HeightMap
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
Static Public Member Functions inherited from towr::HeightMap
static HeightMap::Ptr	MakeTerrain (TerrainID type)
Protected Attributes inherited from towr::HeightMap
double	friction_coeff_ = 0.5

Detailed Description

Sample terrain with parabola-modeled gap in x-direction.

Definition at line 89 of file height_map_examples.h.

Member Function Documentation

GetHeight()

double towr::Gap::GetHeight ( double  x, double  y  ) const

overridevirtual

Returns

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

Parameters

x	The x position.
y	The y position.

Implements towr::HeightMap.

Definition at line 89 of file height_map_examples.cc.

GetHeightDerivWrtX()

double towr::Gap::GetHeightDerivWrtX ( double  x, double  y  ) const

overridevirtual

Reimplemented from towr::HeightMap.

Definition at line 101 of file height_map_examples.cc.

GetHeightDerivWrtXX()

double towr::Gap::GetHeightDerivWrtXX ( double  x, double  y  ) const

overridevirtual

Reimplemented from towr::HeightMap.

Definition at line 112 of file height_map_examples.cc.

Member Data Documentation

a

const double towr::Gap::a = (4*h)/(w*w)

private

Definition at line 109 of file height_map_examples.h.

b

const double towr::Gap::b = -(8*h*xc)/(w*w)

private

Definition at line 110 of file height_map_examples.h.

c

const double towr::Gap::c = -(h*(w - 2*xc)*(w + 2*xc))/(w*w)

private

Definition at line 111 of file height_map_examples.h.

dx

const double towr::Gap::dx = w/2.0

private

Definition at line 101 of file height_map_examples.h.

gap_end_x

const double towr::Gap::gap_end_x = gap_start_ + w

private

Definition at line 103 of file height_map_examples.h.

gap_start_

const double towr::Gap::gap_start_ = 1.0

private

Definition at line 96 of file height_map_examples.h.

h

const double towr::Gap::h = 1.5

private

Definition at line 98 of file height_map_examples.h.

slope_

const double towr::Gap::slope_ = h/w

private

Definition at line 100 of file height_map_examples.h.

w

const double towr::Gap::w = 0.5

private

Definition at line 97 of file height_map_examples.h.

xc

const double towr::Gap::xc = gap_start_ + dx

private

Definition at line 102 of file height_map_examples.h.

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

• height_map_examples.h
• height_map_examples.cc