demo_palettes.cpp

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#include <robot_nav_rviz_plugins/nav_grid_palette.h>
#include <string>
#include <vector>

namespace robot_nav_viz_demos
{
using color_util::ColorRGBA24;

class MegaPalette : public robot_nav_rviz_plugins::NavGridPalette
{
public:
  std::string getName() const override { return "mega"; }
  bool hasTransparency() const override { return true; }
  std::vector<ColorRGBA24> getColors() const override
  {
    std::vector<ColorRGBA24> colors(6);
    colors[0] = ColorRGBA24(0, 0, 0, 0);
    colors[1] = ColorRGBA24(0, 0, 0, 255);
    colors[2] = ColorRGBA24(0, 112, 236, 255);
    colors[3] = ColorRGBA24(0, 232, 216, 255);
    colors[4] = ColorRGBA24(252, 228, 160, 255);
    colors[5] = ColorRGBA24(255, 255, 255, 255);
    return colors;
  }
};

class GreenPalette : public robot_nav_rviz_plugins::NavGridPalette
{
public:
  std::string getName() const override { return "green"; }
  bool hasTransparency() const override { return true; }
  std::vector<ColorRGBA24> getColors() const override
  {
    std::vector<ColorRGBA24> colors(6);
    colors[0] = ColorRGBA24(0, 0, 0, 0);
    colors[1] = ColorRGBA24(0, 0, 0, 255);
    colors[2] = ColorRGBA24(0, 148, 0, 255);
    colors[3] = ColorRGBA24(252, 252, 252, 255);
    colors[4] = ColorRGBA24(252, 228, 160, 255);
    colors[5] = ColorRGBA24(255, 255, 255, 255);
    return colors;
  }
};

}  // namespace robot_nav_viz_demos

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(robot_nav_viz_demos::MegaPalette, robot_nav_rviz_plugins::NavGridPalette)
PLUGINLIB_EXPORT_CLASS(robot_nav_viz_demos::GreenPalette, robot_nav_rviz_plugins::NavGridPalette)