.. _program_listing_file__tmp_ws_src_grid_map_grid_map_filters_include_grid_map_filters_ColorBlendingFilter.hpp:

Program Listing for File ColorBlendingFilter.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_filters_include_grid_map_filters_ColorBlendingFilter.hpp>` (``/tmp/ws/src/grid_map/grid_map_filters/include/grid_map_filters/ColorBlendingFilter.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * ColorBlendingFilter.hpp
    *
    *  Created on: Sep 14, 2017
    *      Author: Peter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    */
   
   #ifndef GRID_MAP_FILTERS__COLORBLENDINGFILTER_HPP_
   #define GRID_MAP_FILTERS__COLORBLENDINGFILTER_HPP_
   
   #include <filters/filter_base.hpp>
   
   #include <Eigen/Core>
   #include <string>
   
   namespace grid_map
   {
   
   template<typename T>
   class ColorBlendingFilter : public filters::FilterBase<T>
   {
   public:
     ColorBlendingFilter();
   
     virtual ~ColorBlendingFilter();
   
     bool configure() override;
   
     bool update(const T & mapIn, T & mapOut) override;
   
   private:
     enum class BlendModes
     {
       Normal,
       HardLight,
       SoftLight
     };
   
     std::string backgroundLayer_, foregroundLayer_;
   
     double opacity_;
   
     BlendModes blendMode_;
   
     std::string outputLayer_;
   };
   
   }  // namespace grid_map
   #endif  // GRID_MAP_FILTERS__COLORBLENDINGFILTER_HPP_