00001 # Software License Agreement (BSD License) 00002 # 00003 # Copyright (c) 2011, UC Regents 00004 # All rights reserved. 00005 # 00006 # Redistribution and use in source and binary forms, with or without 00007 # modification, are permitted provided that the following conditions 00008 # are met: 00009 # 00010 # * Redistributions of source code must retain the above copyright 00011 # notice, this list of conditions and the following disclaimer. 00012 # * Redistributions in binary form must reproduce the above 00013 # copyright notice, this list of conditions and the following 00014 # disclaimer in the documentation and/or other materials provided 00015 # with the distribution. 00016 # * Neither the name of the University of California nor the names of its 00017 # contributors may be used to endorse or promote products derived 00018 # from this software without specific prior written permission. 00019 # 00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 # POSSIBILITY OF SUCH DAMAGE. 00032 00033 from visualization_msgs.msg import Marker 00034 00035 """ 00036 Misc utility functions 00037 """ 00038 def alt_color(alt): 00039 """ 00040 Provide a RGB tuple (entries 0..1) that varies based on input alt. 00041 @todo: make more configurable 00042 """ 00043 RED_MAX_ALT = 2.0 00044 GREEN_MAX_ALT = 1.0 00045 BLUE_MAX_ALT = 0.8 00046 ALPHA = 0.9 00047 return (min(1, 1.0 * alt / RED_MAX_ALT), 00048 1 - min(1, 1.0 * alt / GREEN_MAX_ALT), 00049 1 - min(1, alt / BLUE_MAX_ALT), 00050 ALPHA) 00051 00052 def makeBox( msg ): 00053 marker = Marker() 00054 00055 marker.type = Marker.CUBE 00056 marker.scale.x = msg.scale * 0.45 00057 marker.scale.y = msg.scale * 0.45 00058 marker.scale.z = msg.scale * 0.45 00059 marker.color.r = 0.5 00060 marker.color.g = 0.5 00061 marker.color.b = 0.5 00062 marker.color.a = 1.0 00063 00064 return marker