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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Josh Faust */
#ifndef URDF_INTERFACE_COLOR_H
#define URDF_INTERFACE_COLOR_H
#include <stdexcept>
#include <string>
#include <vector>
#include <math.h>
#include <urdf_model/utils.h>
#include <urdf_exception/exception.h>
namespace urdf
{
class Color
{
public:
Color() {this->clear();};
float r;
float g;
float b;
float a;
void clear()
{
r = g = b = 0.0f;
a = 1.0f;
}
bool init(const std::string &vector_str)
{
this->clear();
std::vector<std::string> pieces;
std::vector<float> rgba;
urdf::split_string( pieces, vector_str, " ");
for (unsigned int i = 0; i < pieces.size(); ++i)
{
if (!pieces[i].empty())
{
try
{
double piece = strToDouble(pieces[i].c_str());
if ((piece < 0) || (piece > 1))
throw ParseError("Component [" + pieces[i] + "] is outside the valid range for colors [0, 1]");
rgba.push_back(static_cast<float>(piece));
}
catch (std::runtime_error &/*e*/) {
throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a color value)");
}
}
}
if (rgba.size() != 4)
{
return false;
}
this->r = rgba[0];
this->g = rgba[1];
this->b = rgba[2];
this->a = rgba[3];
return true;
};
};
}
#endif
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