AbstractExtendedVisualizer.cpp

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#include "visualization/psm/helper/AbstractExtendedVisualizer.h"

namespace Visualization {
  
  AbstractExtendedVisualizer::AbstractExtendedVisualizer()
  {
  }
  
  AbstractExtendedVisualizer::~AbstractExtendedVisualizer()
  {
  }
  
  void AbstractExtendedVisualizer::setColors(const std_msgs::ColorRGBA& pFirstColor,
                                             const std_msgs::ColorRGBA& pSecondColor,
                                             const std_msgs::ColorRGBA& pThirdColor)
  {
    // All color parameter values of the first color must be in [0,1].
    if((pFirstColor.r < 0.0f || pFirstColor.r > 1.0f) || (pFirstColor.g < 0.0f || pFirstColor.g > 1.0f) || (pFirstColor.b < 0.0f || pFirstColor.b > 1.0f) || (pFirstColor.a < 0.0f || pFirstColor.a > 1.0f))
      throw std::out_of_range("First ring color contains no valid color information.");
    
    // All color parameter values of the second color must be in [0,1].
    if((pSecondColor.r < 0.0f || pSecondColor.r > 1.0f) || (pSecondColor.g < 0.0f || pSecondColor.g > 1.0f) || (pSecondColor.b < 0.0f || pSecondColor.b > 1.0f) || (pSecondColor.a < 0.0f || pSecondColor.a > 1.0f))
      throw std::out_of_range("Second ring color contains no valid color information.");
    
    // All color parameter values of the second color must be in [0,1].
    if((pThirdColor.r < 0.0f || pThirdColor.r > 1.0f) || (pThirdColor.g < 0.0f || pThirdColor.g > 1.0f) || (pThirdColor.b < 0.0f || pThirdColor.b > 1.0f) || (pThirdColor.a < 0.0f || pThirdColor.a > 1.0f))
      throw std::out_of_range("Third ring color contains no valid color information.");
    
    // Add the colors to the list.
    mColors.push_back(pFirstColor);
    mColors.push_back(pSecondColor);
    mColors.push_back(pThirdColor);
  }
  
  void AbstractExtendedVisualizer::setScaleFactor(const double pScaleFactor)
  {
    mScaleFactor = pScaleFactor;
  }
  
  const std_msgs::ColorRGBA AbstractExtendedVisualizer::getColor(unsigned int pNumber)
  {
    if(pNumber > (mColors.size() - 1))
      throw std::out_of_range("Unable to access a color. Index out of range.");
    
    return mColors[pNumber];
  }
  
  double AbstractExtendedVisualizer::getScaleFactor()
  {
    return mScaleFactor;
  }
  
}