GridMapVisualizationHelpers.hpp

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/*
 * GridMapVisualizationHelpers.hpp
 *
 *  Created on: Jun 24, 2014
 *      Author: Péter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#pragma once

// ROS
#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
#include <std_msgs/ColorRGBA.h>

// Eigen
#include <Eigen/Core>

namespace grid_map_visualization {

void getColorMessageFromColorVector(std_msgs::ColorRGBA& colorMessage, const Eigen::Vector3f& colorVector, bool resetTransparency = true);

void getColorVectorFromColorMessage(Eigen::Vector3f& colorVector, const std_msgs::ColorRGBA& colorMessage);

void setColorFromColorValue(std_msgs::ColorRGBA& color, const unsigned long& colorValue, bool resetTransparency = true);

void setColorChannelFromValue(float& colorChannel, const double value, const double lowerValueBound,
                              const double upperValueBound, const bool invert = false, const double colorChannelLowerValue = 0.0,
                              const double colorChannelUpperValue = 1.0);

void interpolateBetweenColors(std_msgs::ColorRGBA& color, const std_msgs::ColorRGBA& colorForLowerValue,
                              const std_msgs::ColorRGBA& colorForUpperValue, const double value,
                              const double lowerValueBound, const double upperValueBound);

void setSaturationFromValue(std_msgs::ColorRGBA& color, const double value, const double lowerValueBound,
                            const double upperValueBound, const double maxSaturation, const double minSaturation);

void setColorFromValue(std_msgs::ColorRGBA& color, const double value, const double lowerValueBound,
                       const double upperValueBound);

double computeLinearMapping(
    const double& sourceValue, const double& sourceLowerValue, const double& sourceUpperValue,
    const double& mapLowerValue, const double& mapUpperValue);

} /* namespace */