Klamp't  0.8.1
urdf_color.h
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34 
35 /* Author: Josh Faust */
36 
37 #ifndef URDF_INTERFACE_COLOR_H
38 #define URDF_INTERFACE_COLOR_H
39 
40 #include <string>
41 #include <vector>
42 #include <math.h>
43 #include <KrisLibrary/utils/stringutils.h>
44 #include <KrisLibrary/utils/AnyValue.h>
45 
46 namespace urdf
47 {
48 
52 class Color
53 {
54 public:
55  Color() {this->clear();};
56  float r;
57  float g;
58  float b;
59  float a;
60 
61  void clear()
62  {
63  r = g = b = 0.0f;
64  a = 1.0f;
65  }
66  bool init(const std::string &vector_str)
67  {
68  this->clear();
69  std::vector<std::string> pieces;
70  std::vector<float> rgba;
71  pieces = Split( vector_str, " ");
72  for (unsigned int i = 0; i < pieces.size(); ++i)
73  {
74  if (!pieces[i].empty())
75  {
76  rgba.push_back(float());
77  if(!LexicalCast(pieces[i],rgba.back()))
78  return false;
79  }
80  }
81 
82  if (rgba.size() != 4)
83  {
84  return false;
85  }
86 
87  this->r = rgba[0];
88  this->g = rgba[1];
89  this->b = rgba[2];
90  this->a = rgba[3];
91 
92  return true;
93  };
94 };
95 
96 }
97 
98 #endif
Definition: urdf_color.h:52
Definition: urdf_color.h:46