GridMapVisualizationHelpers.hpp
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00001 /*
00002  * GridMapVisualizationHelpers.hpp
00003  *
00004  *  Created on: Jun 24, 2014
00005  *      Author: Péter Fankhauser
00006  *   Institute: ETH Zurich, ANYbotics
00007  */
00008 
00009 #pragma once
00010 
00011 // ROS
00012 #include <ros/ros.h>
00013 #include <visualization_msgs/MarkerArray.h>
00014 #include <std_msgs/ColorRGBA.h>
00015 
00016 // Eigen
00017 #include <Eigen/Core>
00018 
00019 namespace grid_map_visualization {
00020 
00027 void getColorMessageFromColorVector(std_msgs::ColorRGBA& colorMessage, const Eigen::Vector3f& colorVector, bool resetTransparency = true);
00028 
00034 void getColorVectorFromColorMessage(Eigen::Vector3f& colorVector, const std_msgs::ColorRGBA& colorMessage);
00035 
00042 void setColorFromColorValue(std_msgs::ColorRGBA& color, const unsigned long& colorValue, bool resetTransparency = true);
00043 
00054 void setColorChannelFromValue(float& colorChannel, const double value, const double lowerValueBound,
00055                               const double upperValueBound, const bool invert = false, const double colorChannelLowerValue = 0.0,
00056                               const double colorChannelUpperValue = 1.0);
00057 
00067 void interpolateBetweenColors(std_msgs::ColorRGBA& color, const std_msgs::ColorRGBA& colorForLowerValue,
00068                               const std_msgs::ColorRGBA& colorForUpperValue, const double value,
00069                               const double lowerValueBound, const double upperValueBound);
00070 
00080 void setSaturationFromValue(std_msgs::ColorRGBA& color, const double value, const double lowerValueBound,
00081                             const double upperValueBound, const double maxSaturation, const double minSaturation);
00082 
00090 void setColorFromValue(std_msgs::ColorRGBA& color, const double value, const double lowerValueBound,
00091                        const double upperValueBound);
00092 
00102 double computeLinearMapping(
00103     const double& sourceValue, const double& sourceLowerValue, const double& sourceUpperValue,
00104     const double& mapLowerValue, const double& mapUpperValue);
00105 
00106 } /* namespace */


grid_map_visualization
Author(s): Péter Fankhauser
autogenerated on Tue Jul 9 2019 05:06:50