Color.hh

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Color class
 * Author: Nate Koenig
 * Date: 08 May 2009
 */

#ifndef _GAZEBO_COLOR_HH_
#define _GAZEBO_COLOR_HH_

#include <iostream>
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {

    class GAZEBO_VISIBLE Color
    {
      public: static const Color White;
      public: static const Color Black;
      public: static const Color Red;
      public: static const Color Green;
      public: static const Color Blue;
      public: static const Color Yellow;
      public: static const Color Purple;

      public: typedef unsigned int RGBA;

      public: typedef unsigned int BGRA;

      public: typedef unsigned int ARGB;

      public: typedef unsigned int ABGR;

      public: Color();

      public: Color(float _r, float _g, float _b, float _a = 1.0);

      public: Color(const Color &_clr);

      public: virtual ~Color();

      public: void Reset();

      public: void Set(float _r = 1, float _g = 1 , float _b = 1, float _a = 1);

      public: math::Vector3 GetAsHSV() const;

      public: void SetFromHSV(float _h, float _s, float _v);

      public: math::Vector3 GetAsYUV() const;

      public: void SetFromYUV(float _y, float _u, float _v);

      public: Color &operator =(const Color &_pt);

      public: float operator[](unsigned int _index);

      public: RGBA GetAsRGBA() const;

      public: BGRA GetAsBGRA() const;

      public: ARGB GetAsARGB() const;

      public: ABGR GetAsABGR() const;


      public: void SetFromRGBA(const RGBA _v);

      public: void SetFromBGRA(const BGRA _v);

      public: void SetFromARGB(const ARGB _v);

      public: void SetFromABGR(const ABGR _v);

      public: Color operator+(const Color &_pt) const;

      public: Color operator+(const float &_v) const;

      public: const Color &operator+=(const Color &_pt);

      public: Color operator-(const Color &_pt) const;

      public: Color operator-(const float &_v) const;

      public: const Color &operator-=(const Color &_pt);

      public: const Color operator/(const Color &_pt) const;

      public: const Color operator/(const float &_v) const;

      public: const Color &operator/=(const Color &_pt);

      public: const Color operator*(const Color &_pt) const;

      public: const Color operator*(const float &_v) const;

      public: const Color &operator*=(const Color &_pt);

      public: bool operator ==(const Color &_pt) const;

      public: bool operator!=(const Color &_pt) const;

      private: void Clamp();

      public: friend std::ostream &operator<< (std::ostream &_out,
                                               const Color &_pt)
              {
                _out << _pt.r << " " << _pt.g << " " << _pt.b << " " << _pt.a;
                return _out;
              }

      public: friend std::istream &operator>> (std::istream &_in, Color &_pt)
      {
        // Skip white spaces
        _in.setf(std::ios_base::skipws);
        _in >> _pt.r >> _pt.g >> _pt.b >> _pt.a;
        return _in;
      }

      // The values
      public: float r, g, b, a;
    };
  }
}
#endif