color.hpp

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#ifndef _ASTRA_ROS_COLOR_HPP_
#define _ASTRA_ROS_COLOR_HPP_
 
#include <cstdint>
 
#include <std_msgs/ColorRGBA.h>
 
namespace astra_ros
{
  struct Rgba;
  struct Rgb;
  struct Hsv;
 
  struct Rgba
  {
    Rgba();
 
    Rgba(const float r, const float g, const float b, const float a);
 
    operator std_msgs::ColorRGBA () const noexcept;
 
    // Red [0.0 .. 1.0] (inclusive)
    float r;
    // Green [0.0 .. 1.0] (inclusive)
    float g;
    // Blue [0.0 .. 1.0] (inclusive)
    float b;
    // Alpha [0.0 .. 1.0] (inclusive)
    float a;
 
    static const Rgba RED;
    static const Rgba GREEN;
    static const Rgba BLUE;
    static const Rgba WHITE;
    static const Rgba BLACK;
    static const Rgba TRANSPARENT;
 
    static Rgba fromHsv(const Hsv &hsv);
    static Rgba fromRgb(const Rgb &rgb);
    static Rgba fromRgb(const Rgb &rgb, const float a);
  };
 
  struct Rgb
  {
    Rgb();
    Rgb(const float r, const float g, const float b);
 
    operator std_msgs::ColorRGBA () const noexcept;
    operator Rgba () const noexcept;
 
    // Red [0.0 .. 1.0] (inclusive)
    float r;
    // Green [0.0 .. 1.0] (inclusive)
    float g;
    // Blue [0.0 .. 1.0] (inclusive)
    float b;
 
    static const Rgb RED;
    static const Rgb GREEN;
    static const Rgb BLUE;
    static const Rgb WHITE;
    static const Rgb BLACK;
 
    Hsv toHsv() const;
    Rgba toRgba() const;
    Rgba toRgba(const float a) const;
    static Rgb fromHsv(const Hsv &hsv);
  };
 
  
 
  struct Hsv
  {
    Hsv();
    Hsv(const float h, const float s, const float v);
 
    // Hue angle in degrees
    float h;
    // Saturation [0.0 .. 1.0] (inclusive)
    float s;
    // Value [0.0 .. 1.0] (inclusive)
    float v;
 
    Rgb toRgb() const;
    Rgba toRgba() const;
    Rgba toRgba(const float a) const;
    static Hsv fromRgb(const Rgb &rgb);
  };
 
  Hsv indexColor(const std::size_t i);
}
 
#endif