GCOP
1.0
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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Josh Faust */ 00036 00037 #ifndef URDF_INTERFACE_COLOR_H 00038 #define URDF_INTERFACE_COLOR_H 00039 00040 #include <string> 00041 #include <vector> 00042 #include <math.h> 00043 #include <boost/algorithm/string.hpp> 00044 #include <boost/lexical_cast.hpp> 00045 00046 namespace gcop_urdf 00047 { 00048 00049 class Color 00050 { 00051 public: 00052 Color() {this->clear();}; 00053 float r; 00054 float g; 00055 float b; 00056 float a; 00057 00058 void clear() 00059 { 00060 r = g = b = 0.0f; 00061 a = 1.0f; 00062 } 00063 bool init(const std::string &vector_str) 00064 { 00065 this->clear(); 00066 std::vector<std::string> pieces; 00067 std::vector<float> rgba; 00068 boost::split( pieces, vector_str, boost::is_any_of(" ")); 00069 for (unsigned int i = 0; i < pieces.size(); ++i) 00070 { 00071 if (!pieces[i].empty()) 00072 { 00073 try 00074 { 00075 rgba.push_back(boost::lexical_cast<double>(pieces[i].c_str())); 00076 } 00077 catch (boost::bad_lexical_cast &e) 00078 { 00079 //printf("color rgba element (%s) is not a valid float",pieces[i].c_str()); 00080 return false; 00081 } 00082 } 00083 } 00084 00085 if (rgba.size() != 4) 00086 { 00087 //printf("Color contains %i elements instead of 4 elements", (int)rgba.size()); 00088 return false; 00089 } 00090 00091 this->r = rgba[0]; 00092 this->g = rgba[1]; 00093 this->b = rgba[2]; 00094 this->a = rgba[3]; 00095 00096 return true; 00097 }; 00098 }; 00099 00100 } 00101 00102 #endif 00103