1 /********************************************************************* 2 * Software License Agreement (BSD License) 3 * 4 * Copyright (c) 2008, Willow Garage, Inc. 5 * All rights reserved. 6 * 7 * Redistribution and use in source and binary forms, with or without 8 * modification, are permitted provided that the following conditions 9 * are met: 10 * 11 * * Redistributions of source code must retain the above copyright 12 * notice, this list of conditions and the following disclaimer. 13 * * Redistributions in binary form must reproduce the above 14 * copyright notice, this list of conditions and the following 15 * disclaimer in the documentation and/or other materials provided 16 * with the distribution. 17 * * Neither the name of the Willow Garage nor the names of its 18 * contributors may be used to endorse or promote products derived 19 * from this software without specific prior written permission. 20 * 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 * POSSIBILITY OF SUCH DAMAGE. 33 *********************************************************************/ 34 35 /* Author: Josh Faust */ 36 37 #ifndef URDF_INTERFACE_COLOR_H 38 #define URDF_INTERFACE_COLOR_H 39 40 #include <stdexcept> 41 #include <string> 42 #include <vector> 43 #include <math.h> 44 45 #include <urdf_model/utils.h> 46 #include <urdf_exception/exception.h> 47 48 namespace urdf 49 { 50 51 class Color 52 { 53 public: Color()54 Color() {this->clear();}; 55 float r; 56 float g; 57 float b; 58 float a; 59 clear()60 void clear() 61 { 62 r = g = b = 0.0f; 63 a = 1.0f; 64 } init(const std::string & vector_str)65 bool init(const std::string &vector_str) 66 { 67 this->clear(); 68 std::vector<std::string> pieces; 69 std::vector<float> rgba; 70 urdf::split_string( pieces, vector_str, " "); 71 for (unsigned int i = 0; i < pieces.size(); ++i) 72 { 73 if (!pieces[i].empty()) 74 { 75 try 76 { 77 double piece = strToDouble(pieces[i].c_str()); 78 if ((piece < 0) || (piece > 1)) 79 throw ParseError("Component [" + pieces[i] + "] is outside the valid range for colors [0, 1]"); 80 rgba.push_back(static_cast<float>(piece)); 81 } 82 catch (std::runtime_error &/*e*/) { 83 throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a color value)"); 84 } 85 } 86 } 87 88 if (rgba.size() != 4) 89 { 90 return false; 91 } 92 93 this->r = rgba[0]; 94 this->g = rgba[1]; 95 this->b = rgba[2]; 96 this->a = rgba[3]; 97 98 return true; 99 }; 100 }; 101 102 } 103 104 #endif 105 106