#include <ElevationMap.h>

Inheritance diagram for mvsim::ElevationMap:

[legend]

Public Member Functions
	ElevationMap (World parent, const rapidxml::xml_node< char > root)

std::optional< float >	getElevationAt (const mrpt::math::TPoint2D &pt) const override

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) 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
const std::optional< Shape2p5 > &	collisionShape () const

bool	customVisualVisible () const

void	customVisualVisible (const bool visible)

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

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))

b2Body *	b2d_body ()

const b2Body *	b2d_body () const

virtual void	freeOpenGLResources ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

virtual mrpt::math::TPose3D	getRelativePose () const

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

virtual VisualObject *	meAsVisualObject ()

virtual void	registerOnServer (mvsim::Client &c)

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const

virtual void	setRelativePose (const mrpt::math::TPose3D &p)

void	setTwist (const mrpt::math::TTwist2D &dq) const

	Simulable (World *parent)

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

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const JointXMLnode<> &rootNode)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
bool	firstSceneRendering_ = true

std::vector< mrpt::opengl::CMesh::Ptr >	gl_meshes_

mrpt::math::CMatrixDouble	meshCacheZ_

double	meshMaxX_ = 0

double	meshMaxY_ = 0

double	meshMinX_ = 0

double	meshMinY_ = 0

double	model_split_size_ = .0f

double	resolution_ = 1.0f

double	textureExtensionX_ = 0
	0=auto More...

double	textureExtensionY_ = 0
	0=auto More...

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Protected Attributes inherited from mvsim::Simulable
std::string	name_

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)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Detailed Description

Simulates a Digital Elevation Model (DEM) for a given terrain.

Input data can be given from a fixed elevation matrix from the XML file, an external image, etc. Refer to examples under mvsim_tutorials.

Definition at line 27 of file ElevationMap.h.

Constructor & Destructor Documentation

◆ ElevationMap()

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

Definition at line 76 of file ElevationMap.cpp.

◆ ~ElevationMap()

ElevationMap::~ElevationMap ( )

virtual

Definition at line 82 of file ElevationMap.cpp.

Member Function Documentation

◆ getElevationAt()

std::optional< float > ElevationMap::getElevationAt ( const mrpt::math::TPoint2D & pt ) const

override

Definition at line 466 of file ElevationMap.cpp.

◆ internalGuiUpdate()

void ElevationMap::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 408 of file ElevationMap.cpp.

◆ loadConfigFrom()

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

overridevirtual

Implements mvsim::WorldElementBase.

Definition at line 83 of file ElevationMap.cpp.

◆ simul_post_timestep()

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 q_, dq_)

Reimplemented from mvsim::Simulable.

Definition at line 439 of file ElevationMap.cpp.

◆ simul_pre_timestep()

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 432 of file ElevationMap.cpp.

Member Data Documentation

◆ firstSceneRendering_

bool mvsim::ElevationMap::firstSceneRendering_ = true

protected

Definition at line 49 of file ElevationMap.h.

◆ gl_meshes_

std::vector<mrpt::opengl::CMesh::Ptr> mvsim::ElevationMap::gl_meshes_

protected

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

Definition at line 48 of file ElevationMap.h.

◆ meshCacheZ_

mrpt::math::CMatrixDouble mvsim::ElevationMap::meshCacheZ_

protected

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

Definition at line 56 of file ElevationMap.h.

◆ meshMaxX_

double mvsim::ElevationMap::meshMaxX_ = 0

protected

Definition at line 57 of file ElevationMap.h.

◆ meshMaxY_

double mvsim::ElevationMap::meshMaxY_ = 0

protected

Definition at line 57 of file ElevationMap.h.

◆ meshMinX_

double mvsim::ElevationMap::meshMinX_ = 0

protected

Definition at line 57 of file ElevationMap.h.

◆ meshMinY_

double mvsim::ElevationMap::meshMinY_ = 0

protected

Definition at line 57 of file ElevationMap.h.

◆ model_split_size_

double mvsim::ElevationMap::model_split_size_ = .0f

protected

If enabled (>0), the mesh will be split into NxM smaller meshes with a max size of this value, to help correctly render semitransparent objects (e.g. trees).

Definition at line 61 of file ElevationMap.h.

◆ resolution_

double mvsim::ElevationMap::resolution_ = 1.0f

protected

Definition at line 50 of file ElevationMap.h.

◆ textureExtensionX_

double mvsim::ElevationMap::textureExtensionX_ = 0

protected

0=auto

Definition at line 52 of file ElevationMap.h.

◆ textureExtensionY_

double mvsim::ElevationMap::textureExtensionY_ = 0

protected

0=auto

Definition at line 53 of file ElevationMap.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ElevationMap()

◆ ~ElevationMap()

Member Function Documentation

◆ getElevationAt()

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ simul_post_timestep()

◆ simul_pre_timestep()

Member Data Documentation

◆ firstSceneRendering_

◆ gl_meshes_

◆ meshCacheZ_

◆ meshMaxX_

◆ meshMaxY_

◆ meshMinX_

◆ meshMinY_

◆ model_split_size_

◆ resolution_

◆ textureExtensionX_

◆ textureExtensionY_