gz/math/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 GZ_MATH_COLOR_HH_
#define GZ_MATH_COLOR_HH_
 
#include <cctype>
#include <istream>
#include <ostream>
 
#include <gz/math/Helpers.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/config.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  class GZ_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() = default;
 
    public: constexpr Color(const float _r, const float _g, const float _b,
                            const float _a = 1.0)
    : r(_r), g(_g), b(_b), a(_a)
    {
      this->Clamp();
    }
 
    public: Color(const Color &_clr) = default;
 
    public: ~Color() = default;
 
    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) = default;
 
    public: float operator[](const unsigned int _index);
 
    public: float operator[](const unsigned int _index) const;
 
    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: constexpr void Clamp()
    {
      // These comparisons are carefully written to handle NaNs correctly.
      if (!(this->r >= 0)) { this->r = 0; }
      if (!(this->g >= 0)) { this->g = 0; }
      if (!(this->b >= 0)) { this->b = 0; }
      if (!(this->a >= 0)) { this->a = 0; }
      if (this->r > 1) { this->r = this->r/255.0f; }
      if (this->g > 1) { this->g = this->g/255.0f; }
      if (this->b > 1) { this->b = this->b/255.0f; }
      if (this->a > 1) { this->a = 1; }
    }
 
    public: friend std::ostream &operator<<(std::ostream &_out,
                                            const Color &_color)
    {
      for (auto i : {0, 1, 2, 3})
      {
        if (i > 0)
          _out << " ";
 
        appendToStream(_out, _color[i]);
      }
      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;
  };
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_COLOR_HH_