forwards.h
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1 /*
2  * Copyright (c) 2008, Willow Garage, Inc.
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15  * this software without specific prior written permission.
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28  */
29 
30 #ifndef RVIZ_SELECTION_FORWARDS_H
31 #define RVIZ_SELECTION_FORWARDS_H
32 
33 #include <vector>
34 #include <set>
35 #include <map>
36 #include <boost/unordered_map.hpp>
37 #include <OgrePixelFormat.h>
38 #include <OgreColourValue.h>
39 
40 #include <ros/console.h>
41 
42 
43 namespace rviz
44 {
45 typedef uint32_t CollObjectHandle;
46 typedef std::vector<CollObjectHandle> V_CollObject;
47 typedef std::vector<V_CollObject> VV_CollObject;
48 typedef std::set<CollObjectHandle> S_CollObject;
49 
50 typedef std::set<uint64_t> S_uint64;
51 typedef std::vector<uint64_t> V_uint64;
52 
53 struct Picked
54 {
55  Picked(CollObjectHandle _handle = 0) : handle(_handle), pixel_count(1)
56  {
57  }
58 
59  CollObjectHandle handle;
61  S_uint64 extra_handles;
62 };
63 typedef boost::unordered_map<CollObjectHandle, Picked> M_Picked;
64 
65 
66 inline uint32_t colorToHandle(Ogre::PixelFormat fmt, uint32_t col)
67 {
68  uint32_t handle = 0;
69  if (fmt == Ogre::PF_A8R8G8B8 || fmt == Ogre::PF_X8R8G8B8 || fmt == Ogre::PF_R8G8B8)
70  {
71  handle = col & 0x00ffffff;
72  }
73  else if (fmt == Ogre::PF_R8G8B8A8)
74  {
75  handle = col >> 8;
76  }
77  else
78  {
79  ROS_DEBUG("Incompatible pixel format [%d]", fmt);
80  }
81 
82  return handle;
83 }
84 
85 inline CollObjectHandle colorToHandle(const Ogre::ColourValue& color)
86 {
87  return (int(color.r * 255) << 16) | (int(color.g * 255) << 8) | int(color.b * 255);
88 }
89 
90 
91 } // namespace rviz
92 
93 #endif
std::vector< uint64_t > V_uint64
Definition: forwards.h:51
boost::unordered_map< CollObjectHandle, Picked > M_Picked
Definition: forwards.h:63
S_uint64 extra_handles
Definition: forwards.h:61
CollObjectHandle handle
Definition: forwards.h:59
int pixel_count
Definition: forwards.h:60
std::vector< V_CollObject > VV_CollObject
Definition: forwards.h:47
std::vector< CollObjectHandle > V_CollObject
Definition: forwards.h:46
uint32_t colorToHandle(Ogre::PixelFormat fmt, uint32_t col)
Definition: forwards.h:66
std::set< uint64_t > S_uint64
Definition: forwards.h:50
std::set< CollObjectHandle > S_CollObject
Definition: forwards.h:48
Picked(CollObjectHandle _handle=0)
Definition: forwards.h:55
#define ROS_DEBUG(...)
uint32_t CollObjectHandle
Definition: forwards.h:45


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Aug 15 2022 02:05:16