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/* Author: David V. Lu!! */

#pragma once

#include <std_msgs/msg/color_rgba.hpp>
#include <color_util/types.hpp>

namespace color_util
{
// Turning off clang to keep the horizontal alignment of the methods
// clang-format off
color_util::ColorRGBA toFloat(const color_util::ColorRGBA24& int_color);
color_util::ColorHSVA toFloat(const color_util::ColorHSVA24& int_color);

color_util::ColorRGBA24 toInt(const color_util::ColorRGBA& float_color);
color_util::ColorHSVA24 toInt(const color_util::ColorHSVA& float_color);

color_util::ColorHSVA   changeColorspace(const color_util::ColorRGBA&   rgba);
color_util::ColorHSVA24 changeColorspace(const color_util::ColorRGBA24& rgba);
color_util::ColorRGBA   changeColorspace(const color_util::ColorHSVA&   hsva);
color_util::ColorRGBA24 changeColorspace(const color_util::ColorHSVA24& hsva);

std_msgs::msg::ColorRGBA toMsg(const color_util::ColorRGBA&   rgba);
std_msgs::msg::ColorRGBA toMsg(const color_util::ColorRGBA24& rgba);
std_msgs::msg::ColorRGBA toMsg(const color_util::ColorHSVA&   hsva);
std_msgs::msg::ColorRGBA toMsg(const color_util::ColorHSVA24& hsva);
// clang-format on
}  // namespace color_util