forwards.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_SELECTION_FORWARDS_H
00031 #define RVIZ_SELECTION_FORWARDS_H
00032 
00033 #include <vector>
00034 #include <set>
00035 #include <map>
00036 #include <boost/unordered_map.hpp>
00037 #include <OgrePixelFormat.h>
00038 #include <OgreColourValue.h>
00039 
00040 #include <ros/console.h>
00041 
00042 
00043 namespace rviz
00044 {
00045 
00046 typedef uint32_t CollObjectHandle;
00047 typedef std::vector<CollObjectHandle> V_CollObject;
00048 typedef std::vector<V_CollObject> VV_CollObject;
00049 typedef std::set<CollObjectHandle> S_CollObject;
00050 
00051 typedef std::set<uint64_t> S_uint64;
00052 typedef std::vector<uint64_t> V_uint64;
00053 
00054 struct Picked
00055 {
00056   Picked(CollObjectHandle _handle = 0 )
00057   : handle(_handle), pixel_count(1)
00058   {
00059   }
00060 
00061   CollObjectHandle handle;
00062   int pixel_count;
00063   S_uint64 extra_handles;
00064 };
00065 typedef boost::unordered_map<CollObjectHandle, Picked> M_Picked;
00066 
00067 
00068 inline uint32_t colorToHandle(Ogre::PixelFormat fmt, uint32_t col)
00069 {
00070   uint32_t handle = 0;
00071   if (fmt == Ogre::PF_A8R8G8B8 || fmt == Ogre::PF_X8R8G8B8)
00072   {
00073     handle = col & 0x00ffffff;
00074   }
00075   else if (fmt == Ogre::PF_R8G8B8A8)
00076   {
00077     handle = col >> 8;
00078   }
00079   else
00080   {
00081     ROS_DEBUG("Incompatible pixel format [%d]", fmt);
00082   }
00083 
00084   return handle;
00085 }
00086 
00087 inline CollObjectHandle colorToHandle( const Ogre::ColourValue & color )
00088 {
00089   return (int(color.r * 255) << 16) | (int(color.g * 255) << 8) | int(color.b * 255);
00090 }
00091 
00092 
00093 
00094 }
00095 
00096 #endif


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Jun 6 2019 18:02:15