.. _program_listing_file__tmp_ws_src_grid_map_grid_map_visualization_include_grid_map_visualization_GridMapVisualizationHelpers.hpp:

Program Listing for File GridMapVisualizationHelpers.hpp
========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_visualization_include_grid_map_visualization_GridMapVisualizationHelpers.hpp>` (``/tmp/ws/src/grid_map/grid_map_visualization/include/grid_map_visualization/GridMapVisualizationHelpers.hpp``)

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

.. code-block:: cpp

   /*
    * GridMapVisualizationHelpers.hpp
    *
    *  Created on: Jun 24, 2014
    *      Author: Péter Fankhauser
    *   Institute: ETH Zurich, ANYbotics
    */
   
   #ifndef GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATIONHELPERS_HPP_
   #define GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATIONHELPERS_HPP_
   
   // ROS
   #include <rclcpp/rclcpp.hpp>
   #include <std_msgs/msg/color_rgba.hpp>
   #include <visualization_msgs/msg/marker_array.hpp>
   
   // Eigen
   #include <Eigen/Core>
   
   namespace grid_map_visualization
   {
   
   void getColorMessageFromColorVector(
     std_msgs::msg::ColorRGBA & colorMessage,
     const Eigen::Vector3f & colorVector,
     bool resetTransparency = true);
   
   void getColorVectorFromColorMessage(
     Eigen::Vector3f & colorVector,
     const std_msgs::msg::ColorRGBA & colorMessage);
   
   void setColorFromColorValue(
     std_msgs::msg::ColorRGBA & color, const uint64_t & colorValue,
     bool resetTransparency = true);
   
   void setColorChannelFromValue(
     float & colorChannel, const double value, const double lowerValueBound,
     const double upperValueBound, const bool invert = false,
     const double colorChannelLowerValue = 0.0,
     const double colorChannelUpperValue = 1.0);
   
   void interpolateBetweenColors(
     std_msgs::msg::ColorRGBA & color, const std_msgs::msg::ColorRGBA & colorForLowerValue,
     const std_msgs::msg::ColorRGBA & colorForUpperValue, const double value,
     const double lowerValueBound, const double upperValueBound);
   
   void setSaturationFromValue(
     std_msgs::msg::ColorRGBA & color, const double value, const double lowerValueBound,
     const double upperValueBound, const double maxSaturation, const double minSaturation);
   
   void setColorFromValue(
     std_msgs::msg::ColorRGBA & color, const double value, const double lowerValueBound,
     const double upperValueBound);
   
   double computeLinearMapping(
     const double & sourceValue, const double & sourceLowerValue, const double & sourceUpperValue,
     const double & mapLowerValue, const double & mapUpperValue);
   
   }  // namespace grid_map_visualization
   #endif  // GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATIONHELPERS_HPP_