Program Listing for File palette_builder.hpp
↰ Return to documentation for file (/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/displays/map/palette_builder.hpp
)
/*
* Copyright (c) 2018, Bosch Software Innovations GmbH.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_
#include <memory>
#include <vector>
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_default_plugins
{
namespace displays
{
std::vector<unsigned char> makeRawPalette();
std::vector<unsigned char> makeMapPalette();
std::vector<unsigned char> makeCostmapPalette();
class PaletteBuilder : public
std::enable_shared_from_this<PaletteBuilder>
{
public:
RVIZ_DEFAULT_PLUGINS_PUBLIC
PaletteBuilder();
RVIZ_DEFAULT_PLUGINS_PUBLIC
virtual ~PaletteBuilder() = default;
RVIZ_DEFAULT_PLUGINS_PUBLIC
std::shared_ptr<PaletteBuilder> setColorForIllegalPositiveValues(
unsigned char r, unsigned char g, unsigned char b);
RVIZ_DEFAULT_PLUGINS_PUBLIC
std::shared_ptr<PaletteBuilder> setRedYellowColorsForIllegalNegativeValues();
RVIZ_DEFAULT_PLUGINS_PUBLIC
std::shared_ptr<PaletteBuilder> setColorForLegalNegativeValueMinusOne(
unsigned char r, unsigned char g, unsigned char b);
RVIZ_DEFAULT_PLUGINS_PUBLIC
std::shared_ptr<PaletteBuilder> setColorForValue(
unsigned char palette_position,
unsigned char r, unsigned char g, unsigned char b, unsigned char alpha);
RVIZ_DEFAULT_PLUGINS_PUBLIC
std::vector<unsigned char> buildPalette();
private:
std::vector<unsigned char> palette_;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__MAP__PALETTE_BUILDER_HPP_