nav_grid_palette.h

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#ifndef ROBOT_NAV_RVIZ_PLUGINS_NAV_GRID_PALETTE_H
#define ROBOT_NAV_RVIZ_PLUGINS_NAV_GRID_PALETTE_H

#include <color_util/types.h>
#include <cmath>
#include <string>
#include <vector>

namespace robot_nav_rviz_plugins
{
class NavGridPalette
{
public:
  static const unsigned int NUM_COLORS = 256, NUM_CHANNELS = 4;

  virtual ~NavGridPalette() {}

  virtual std::string getName() const = 0;

  virtual std::vector<color_util::ColorRGBA24> getColors() const = 0;

  virtual bool hasTransparency() const
  {
    for (const auto& color : getColors())
    {
      if (color.a < 255) return true;
    }
    return false;
  }
};

}  // namespace robot_nav_rviz_plugins

#endif  // ROBOT_NAV_RVIZ_PLUGINS_NAV_GRID_PALETTE_H