#include <dem.h>

Public Member Functions
	Dem ()
	Dem (const char fname, double cs=1.0, double ds=1.0, const double o=0)
	Dem (double w, double h, double cs=1.0, double ds=1.0, const double *o=0)
	Dem (const Dem &dem)
virtual	~Dem ()
virtual bool	IsValid (double x, double y) const
virtual double	Get (double x, double y) const
double	GetNormal (double n[3], double x, double y) const
const double *	GetNormal (double x, double y) const
virtual void	Get (double *p, int i, int j) const
void	Set (int i, int j, double z)
void	Set (double x, double y, double z, double s=0)
void	Clear ()
void	Scale (double s)
bool	Inside (double x, double y, double z) const
void	Load (const char *fname)
const double *	GetNormal (int i, int j) const
void	ComputeNormals ()
void	Dilate (double r, bool cube=true)
void	AddBoundary (double h)
void	Convolve (double sigma, bool cn=true, double thresh=0)
void	Point2Index (int &i, int &j, double x, double y) const
void	Index2Point (double &x, double &y, int i, int j) const
Static Public Member Functions
static double	bilinterp (const double *z, int w, int h, double xi, double yi, double eps=1e-10)
Public Attributes
double	w
	width
double	h
	height
double	cs
	cell size
double	ds
	data scale (height scale)
double	o [3]
	origin
int	ni
	number of rows
int	nj
	number of columns
double *	data
	raw data (could be postprocessed)
double *	odata
	original raw data
double *	normals
	normals
double	eps
	numerical tolerance for interpolation

Detailed Description

Digital Elevation Map (Dem).

Constructor & Destructor Documentation

Dem::Dem ( )

References o.

Dem::Dem	(	const char *	fname,
		double	cs = `1.0`,
		double	ds = `1.0`,
		const double *	o = `0`
	)

Initialize the Dem using a PPM file.

Parameters:

fname	name of PPM file
cs	cell size
ds	data size
o	origin - a 3x1 array (optional)

References ComputeNormals(), Load(), and odata.

Dem::Dem	(	double	w,
		double	h,
		double	cs = `1.0`,
		double	ds = `1.0`,
		const double *	o = `0`
	)

Initialize an empty (flat) Dem with predefined width and height

Parameters:

w	width
h	height
cs	cell size
ds	data size
o	origin - a 3x1 array (optional)

References data, ni, nj, normals, and odata.

Dem::Dem ( const Dem & dem )

Copy construcor

Parameters:

dem DEM

References data, ni, nj, normals, o, and odata.

Dem::~Dem ( ) [virtual]

References data, normals, and odata.

Member Function Documentation

void Dem::AddBoundary ( double h )

Adds a boundary of height h around the whole Dem

Parameters:

h height

References data, h, ni, and nj.

double Dem::bilinterp	(	const double *	z,
		int	w,
		int	h,
		double	xi,
		double	yi,
		double	eps = `1e-10`
	)		`[static]`

Helper for interpolation

References eps.

Referenced by Get(), and GetNormal().

void Dem::Clear ( )

Clears the whole dem

References data, ni, and nj.

void Dem::ComputeNormals ( )

Compute all normals once the Dem is loaded and ready

References CROSS, Get(), MINUS3, ni, nj, NORM3, and normals.

Referenced by Convolve(), Dem(), and Dilate().

void Dem::Convolve	(	double	sigma,
		bool	cn = `true`,
		double	thresh = `0`
	)

Apply Gaussian convolution filter with std deviation sigma

Parameters:

sigma	standard deviation (sigma=0) has no effect
cn	flag to recompute normals (set to false in order to speedup processing when computing normals is not necessary)
only	consider values above thresh

References ComputeNormals(), cs, data, ni, nj, and odata.

void Dem::Dilate	(	double	r,
		bool	cube = `true`
	)

Dilate the DEM

Parameters:

r	distance (radius of ball, or half side-length of cube)
cube	whether to use cube or ball

References ComputeNormals(), cs, data, ni, nj, and odata.

double Dem::Get	(	double	x,
		double	y
	)		const `[virtual]`

Get evelation at point (x,y)

Parameters:

x	x-coordinate
y	y-coordinate

Returns:: height

References bilinterp(), cs, data, h, IsValid(), ni, nj, and o.

Referenced by ComputeNormals(), gcop::DemView::Init(), Inside(), gcop::PqpDem< T, _nx, _nu, _np >::PqpDem(), and gcop::DemView::RenderFrame().

void Dem::Get	(	double *	p,
		int	i,
		int	j
	)		const `[virtual]`

Get point p=(x,y,z) corresponding to indices (i,j)

Parameters:

p	point 3x1 array
i	i-index
j	j-index

References cs, data, h, ni, nj, and o.

double Dem::GetNormal	(	double	n[3],
		double	x,
		double	y
	)		const

Give both the elevation and the normal n at point (x,y)

Parameters:

n	normal
x	x-coordinate
y	y-coordinate

Returns:: z-coordinate (elevation)

References bilinterp(), cs, data, h, IsValid(), ni, nj, normals, o, and SET3.

const double * Dem::GetNormal	(	double	x,
		double	y
	)		const

Return pointer to the normal at point (x,y)

Parameters:

x	x-coordinate
y	y-coordinate

Returns:: pointer to normal

References cs, h, IsValid(), nj, normals, and o.

const double * Dem::GetNormal	(	int	i,
		int	j
	)		const

Get the normal at point (i,j)

Parameters:

i	i-index
j	j-index

Returns:: pointer to 3x1 array with the normal vector

References nj, and normals.

void Dem::Index2Point	(	double &	x,
		double &	y,
		int	i,
		int	j
	)		const

References cs, h, and o.

Referenced by gcop::Body3dDemController< nu >::GetTraj().

bool Dem::Inside	(	double	x,
		double	y,
		double	z
	)		const

Checks if point (x,y,z) is insize (under the surface) of the Dem

Parameters:

x	x-coordinate
y	y-coordinate
z	z-coordinate

Returns:: true if Get(x,y) > z

References Get(), and IsValid().

bool gcop::Dem::IsValid	(	double	x,
		double	y
	)		const `[inline, virtual]`

Is point (x,y) valid, i.e. within the map bounds

Parameters:

x	x-position
y	y-position

Returns:: true if valid

References eps, h, o, and w.

Referenced by Get(), GetNormal(), Inside(), and Set().

void Dem::Load ( const char * fname )

Load the Dem from a PPM file

Parameters:

fname file name

References cs, data, ds, h, ni, nj, normals, and w.

Referenced by Dem().

void Dem::Point2Index	(	int &	i,
		int &	j,
		double	x,
		double	y
	)		const

References cs, h, and o.

Referenced by gcop::Body3dDemController< nu >::GetTraj().

void Dem::Scale ( double s )

References data, ni, and nj.

void Dem::Set	(	int	i,
		int	j,
		double	z
	)

Set height at point at index (i,j)

Parameters:

i	i-index
j	j-index
z	height

References data, ni, and nj.

void Dem::Set	(	double	x,
		double	y,
		double	z,
		double	s = `0`
	)

Set height at point (x,y)

Parameters:

x	x-coordinate
y	y-coordinate
z	height
s	size of point - optionally instead of setting single point one case set a square of points to height z, effectively creating a prallellepiped at point (x,y) with side s and height z

References cs, data, eps, h, IsValid(), nj, and o.