height_map.h
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29 
30 #ifndef TOWR_HEIGHT_MAP_H_
31 #define TOWR_HEIGHT_MAP_H_
32 
33 #include <memory>
34 #include <vector>
35 #include <map>
36 #include <string>
37 
38 #include <Eigen/Dense>
39 
41 
42 namespace towr {
43 
71 class HeightMap {
72 public:
73  using Ptr = std::shared_ptr<HeightMap>;
74  using Vector3d = Eigen::Vector3d;
75 
79  enum TerrainID { FlatID,
87 
89 
91 
92  HeightMap() = default;
93  virtual ~HeightMap () = default;
94 
100  virtual double GetHeight(double x, double y) const = 0;
101 
109  double GetDerivativeOfHeightWrt(Dim2D dim, double x, double y) const;
110 
118  Vector3d GetNormalizedBasis(Direction direction, double x, double y) const;
119 
129  double x, double y) const;
133  double GetFrictionCoeff() const { return friction_coeff_; };
134 
135 protected:
136  double friction_coeff_ = 0.5;
137 
138 private:
139  using DimDerivs = std::vector<Dim2D>;
140 
149  Vector3d GetBasis(Direction direction, double x, double y,
150  const DimDerivs& dim_deriv= {}) const;
151 
152  Vector3d GetNormal(double x, double y, const DimDerivs& = {}) const;
153  Vector3d GetTangent1(double x, double y, const DimDerivs& = {}) const;
154  Vector3d GetTangent2(double x, double y, const DimDerivs& = {}) const;
155 
156  double GetSecondDerivativeOfHeightWrt(Dim2D dim1, Dim2D dim2,
157  double x, double y) const;
158 
160  const Vector3d& non_normalized, int index) const;
161 
162  // first derivatives that must be implemented by the user
163  virtual double GetHeightDerivWrtX(double x, double y) const { return 0.0; };
164  virtual double GetHeightDerivWrtY(double x, double y) const { return 0.0; };
165 
166  // second derivatives with respect to first letter, then second
167  virtual double GetHeightDerivWrtXX(double x, double y) const { return 0.0; };
168  virtual double GetHeightDerivWrtXY(double x, double y) const { return 0.0; };
169  virtual double GetHeightDerivWrtYX(double x, double y) const { return 0.0; };
170  virtual double GetHeightDerivWrtYY(double x, double y) const { return 0.0; };
171 };
172 
173 
174 const static std::map<HeightMap::TerrainID, std::string> terrain_names =
175 {
176  {HeightMap::FlatID, "Flat" },
177  {HeightMap::BlockID, "Block" },
178  {HeightMap::StairsID, "Stairs" },
179  {HeightMap::GapID, "Gap" },
180  {HeightMap::SlopeID, "Slope" },
181  {HeightMap::ChimneyID, "Chimney" },
182  {HeightMap::ChimneyLRID, "ChimenyLR" }
183 };
184 
185 } /* namespace towr */
186 
187 #endif /* TOWR_HEIGHT_MAP_H_ */
TerrainID
Terrains IDs corresponding for factory method.
Definition: height_map.h:79
Holds the height and slope information of the terrain.
Definition: height_map.h:71
Vector3d GetDerivativeOfNormalizedBasisWrt(Direction direction, Dim2D dim, double x, double y) const
How the terrain normal/tangent vectors change when moving in x or y.
Definition: height_map.cc:81
Vector3d GetTangent1(double x, double y, const DimDerivs &={}) const
Definition: height_map.cc:113
static const std::map< HeightMap::TerrainID, std::string > terrain_names
Definition: height_map.h:174
double GetSecondDerivativeOfHeightWrt(Dim2D dim1, Dim2D dim2, double x, double y) const
Definition: height_map.cc:151
double GetFrictionCoeff() const
Definition: height_map.h:133
double friction_coeff_
Definition: height_map.h:136
Vector3d GetNormal(double x, double y, const DimDerivs &={}) const
Definition: height_map.cc:94
static HeightMap::Ptr MakeTerrain(TerrainID type)
Definition: height_map.cc:38
virtual ~HeightMap()=default
virtual double GetHeightDerivWrtXY(double x, double y) const
Definition: height_map.h:168
Vector3d GetNormalizedBasis(Direction direction, double x, double y) const
Returns either the vector normal or tangent to the terrain patch.
Definition: height_map.cc:63
Eigen::Vector3d Vector3d
Definition: height_map.h:74
virtual double GetHeightDerivWrtY(double x, double y) const
Definition: height_map.h:164
virtual double GetHeight(double x, double y) const =0
std::vector< Dim2D > DimDerivs
dimensional derivatives
Definition: height_map.h:139
virtual double GetHeightDerivWrtXX(double x, double y) const
Definition: height_map.h:167
virtual double GetHeightDerivWrtX(double x, double y) const
Definition: height_map.h:163
double GetDerivativeOfHeightWrt(Dim2D dim, double x, double y) const
How the height value changes at a 2D position in direction dim.
Definition: height_map.cc:53
Vector3d GetDerivativeOfNormalizedVectorWrtNonNormalizedIndex(const Vector3d &non_normalized, int index) const
Definition: height_map.cc:142
virtual double GetHeightDerivWrtYY(double x, double y) const
Definition: height_map.h:170
virtual double GetHeightDerivWrtYX(double x, double y) const
Definition: height_map.h:169
HeightMap()=default
Vector3d GetBasis(Direction direction, double x, double y, const DimDerivs &dim_deriv={}) const
returns either the terrain normal/tangent or its derivative.
Definition: height_map.cc:69
std::shared_ptr< HeightMap > Ptr
Definition: height_map.h:73
Vector3d GetTangent2(double x, double y, const DimDerivs &={}) const
Definition: height_map.cc:128


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22