Program Listing for File GridMapVisualizationHelpers.hpp

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/*
 * 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_