Color.hh

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/*
 * Copyright (C) 2017 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.
 *
*/
#ifndef IGNITION_MATH_COLOR_HH_
#define IGNITION_MATH_COLOR_HH_

#include <iostream>
#include <cctype>

#include <ignition/math/Helpers.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/math/config.hh>

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    class IGNITION_MATH_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 Magenta;
      public: static const Color Cyan;

      public: typedef unsigned int RGBA;

      public: typedef unsigned int BGRA;

      public: typedef unsigned int ARGB;

      public: typedef unsigned int ABGR;

      public: Color();

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

      public: Color(const Color &_clr);

      public: virtual ~Color();

      public: void Reset();

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

      public: Vector3f HSV() const;

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

      public: Vector3f YUV() const;

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

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

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

      public: RGBA AsRGBA() const;

      public: BGRA AsBGRA() const;

      public: ARGB AsARGB() const;

      public: ABGR AsABGR() 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;
        // Since alpha is optional, check if it's there before parsing
        while (_in.good() && std::isspace(_in.peek()))
        {
          _in.get();
        }
        if (_in.good())
        {
          _in >> _pt.a;
        }
        else if (!_in.fail())
        {
          _pt.a = 1.0;
        }
        return _in;
      }

      public: float R() const;

      public: float G() const;

      public: float B() const;

      public: float A() const;

      public: float &R();

      public: float &G();

      public: float &B();

      public: float &A();

      public: void R(const float _r);

      public: void G(const float _g);

      public: void B(const float _b);

      public: void A(const float _a);

      private: float r = 0;

      private: float g = 0;

      private: float b = 0;

      private: float a = 1;
    };
    }
  }
}
#endif