Terrain¶

ssqp::model::terrain::Terrain describes the ground a model's contacts act against. See Terrain in Concepts for how it's used. The reference below is generated directly from the headers' own doc comments.

Class ssqp::model::terrain::Terrain¶

ClassList > ssqp > model > terrain > Terrain

Inherited by the following classes: ssqp::model::terrain::predefined::FlatTerrain, ssqp::model::terrain::predefined::HeightmapTerrain, ssqp::model::terrain::predefined::SlopeTerrain, ssqp::model::terrain::predefined::StepTerrain

Classes¶

Type	Name
struct	TerrainPoint

Public Functions¶

Type	Name
virtual TerrainPoint	at (const double x, const double y) const = 0
TerrainPoint	at (const Vec2 & p) const
virtual double	distance (const double x, const double y, const double z) const
double	distance (const Vec3 & p) const
virtual nlohmann::ordered_json	to_json () const

Public Functions Documentation¶

function at [1/2]¶

virtual TerrainPoint ssqp::model::terrain::Terrain::at (
    const  double x,
    const  double y
) const = 0

function at [2/2]¶

TerrainPoint ssqp::model::terrain::Terrain::at (
    const Vec2 & p
) const

function distance [1/2]¶

virtual double ssqp::model::terrain::Terrain::distance (
    const  double x,
    const  double y,
    const  double z
) const

function distance [2/2]¶

double ssqp::model::terrain::Terrain::distance (
    const Vec3 & p
) const

function to_json¶

virtual nlohmann::ordered_json ssqp::model::terrain::Terrain::to_json () const

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/model/terrain/Terrain.hpp

`FlatTerrain`¶

Class ssqp::model::terrain::predefined::FlatTerrain¶

ClassList > ssqp > model > terrain > predefined > FlatTerrain

Inherits the following classes: ssqp::model::terrain::Terrain

Public Functions¶

Type	Name
	FlatTerrain (const double base_height=0.0)
TerrainPoint	at (const double x, const double y) override const
nlohmann::ordered_json	to_json () override const

Public Functions Documentation¶

function FlatTerrain¶

ssqp::model::terrain::predefined::FlatTerrain::FlatTerrain (
    const  double base_height=0.0
)

function at¶

TerrainPoint ssqp::model::terrain::predefined::FlatTerrain::at (
    const  double x,
    const  double y
) override const

function to_json¶

nlohmann::ordered_json ssqp::model::terrain::predefined::FlatTerrain::to_json () override const

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/model/terrain/predefined/FlatTerrain.hpp

`SlopeTerrain`¶

Class ssqp::model::terrain::predefined::SlopeTerrain¶

ClassList > ssqp > model > terrain > predefined > SlopeTerrain

More...

#include <SlopeTerrain.hpp>

Inherits the following classes: ssqp::model::terrain::Terrain

Public Functions¶

Type	Name
	SlopeTerrain (const double slope_x, const double slope_y=0.0, const double base_height=0.0)
TerrainPoint	at (const double x, const double y) override const
nlohmann::ordered_json	to_json () override const

Detailed Description¶

Slope terrain Height is \(h = h_0 + s_x x + s_y y\), where \(s_x\) and \(s_y\) are the slopes along the x and y axes (rise over run)

Public Functions Documentation¶

function SlopeTerrain¶

ssqp::model::terrain::predefined::SlopeTerrain::SlopeTerrain (
    const  double slope_x,
    const  double slope_y=0.0,
    const  double base_height=0.0
)

function at¶

TerrainPoint ssqp::model::terrain::predefined::SlopeTerrain::at (
    const  double x,
    const  double y
) override const

function to_json¶

nlohmann::ordered_json ssqp::model::terrain::predefined::SlopeTerrain::to_json () override const

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/model/terrain/predefined/SlopeTerrain.hpp

`StepTerrain`¶

Class ssqp::model::terrain::predefined::StepTerrain¶

ClassList > ssqp > model > terrain > predefined > StepTerrain

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#include <StepTerrain.hpp>

Inherits the following classes: ssqp::model::terrain::Terrain

Public Functions¶

Type	Name
	StepTerrain (const double x_start, const double step_height, const double step_length=1.0, const uint num_steps=1, const double base_height=0.0)
TerrainPoint	at (const double x, const double y) override const
nlohmann::ordered_json	to_json () override const

Detailed Description¶

Piecewise flat terrain with a flight of steps along the x axis

Height is base_height for \(x < x_{start}\), then rises by step_height at x_start and every step_length after that, for num_steps steps in total

The terrain stays at the top step height afterwards; with the default of a single step, step_length has no effect

Public Functions Documentation¶

function StepTerrain¶

ssqp::model::terrain::predefined::StepTerrain::StepTerrain (
    const  double x_start,
    const  double step_height,
    const  double step_length=1.0,
    const  uint num_steps=1,
    const  double base_height=0.0
)

function at¶

TerrainPoint ssqp::model::terrain::predefined::StepTerrain::at (
    const  double x,
    const  double y
) override const

function to_json¶

nlohmann::ordered_json ssqp::model::terrain::predefined::StepTerrain::to_json () override const

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/model/terrain/predefined/StepTerrain.hpp

`HeightmapTerrain`¶

Class ssqp::model::terrain::predefined::HeightmapTerrain¶

ClassList > ssqp > model > terrain > predefined > HeightmapTerrain

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#include <HeightmapTerrain.hpp>

Inherits the following classes: ssqp::model::terrain::Terrain

Public Functions¶

Type	Name
	HeightmapTerrain (const MatX & heights, const double resolution, const double x0=0.0, const double y0=0.0)
TerrainPoint	at (const double x, const double y) override const
void	set_heights (const MatX & heights, const double x0=0.0, const double y0=0.0)
nlohmann::ordered_json	to_json () override const

Detailed Description¶

Smooth terrain interpolated from a uniform grid of heights heights(i, j) is the height at \((x_0 + i r, y_0 + j r)\), where \(r\) is the grid resolution

Heights are interpolated with a bicubic Catmull-Rom spline, which passes through every grid height and has continuous height and slope

The height second derivatives are piecewise continuous

Outside the grid, the terrain extends flat from its closest edge value

Public Functions Documentation¶

function HeightmapTerrain¶

ssqp::model::terrain::predefined::HeightmapTerrain::HeightmapTerrain (
    const MatX & heights,
    const  double resolution,
    const  double x0=0.0,
    const  double y0=0.0
)

function at¶

TerrainPoint ssqp::model::terrain::predefined::HeightmapTerrain::at (
    const  double x,
    const  double y
) override const

function set_heights¶

void ssqp::model::terrain::predefined::HeightmapTerrain::set_heights (
    const MatX & heights,
    const  double x0=0.0,
    const  double y0=0.0
)

Replaces the grid of heights and its origin, keeping the resolution The grid may change size. Models using this terrain see the new heights from their next evaluation, so this must not be called while a solver is using such a model

function to_json¶

nlohmann::ordered_json ssqp::model::terrain::predefined::HeightmapTerrain::to_json () override const

The documentation for this class was generated from the following file /home/runner/work/ssqp/ssqp/include/model/terrain/predefined/HeightmapTerrain.hpp

Custom terrain¶

Subclass Terrain and implement at (required), optionally overriding distance, to model non-flat ground (stairs, slopes, heightmaps) for locomotion tasks. Pass an instance via Model::Structure::terrain.