Robot Simulator of the Robotics Group for Self-Organization of Control: colorschema.h Source File

# colorschema.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __COLORSCHEMA_H
    00025 #define __COLORSCHEMA_H
    00026
    00027 #include "color.h"
    00028 #include <selforg/stl_map.h>
    00029 #include <string>
    00030 #include <vector>
    00031 #include <iostream>
    00032
    00033 namespace lpzrobots{
    00034
    00035   /**
    00036      A store for colors with a set of aliases.
    00037      The alias-sets are numbered where the 0'th plays the role of a default set.
    00038    */
    00039   class ColorSchema
    00040   {
    00041   public:
    00042     typedef HashMap<std::string, Color> ColorMap;
    00043     typedef std::vector<std::string> AliasVector;
    00044     typedef HashMap<std::string, AliasVector > AliasMap;
    00045
    00046     ColorSchema();
    00047
    00048     /** retrieves a color with the given name/id/alias
    00049         if no color is found that matches the id/alias then
    00050         the default color is returned.
    00051         Always the alias-set 0 is checked first
    00052     */
    00053     Color color(const std::string& name_or_id_or_alias) const;
    00054
    00055     /** retrieves a color with the given name/id/alias from given alias_set
    00056         if not found then the default alias_set (0) is checked
    00057      */
    00058     Color color(const std::string& name_or_id_or_alias, int alias_set) const;
    00059
    00060     /** call by reference version
    00061         returns false if color not found
    00062     */
    00063     bool color(Color& color, const std::string& name_or_id_or_alias,
    00064                int alias_set = 0) const;
    00065
    00066     /// checks whether color with the name exists (no aliases are checked)
    00067     bool existsColor(const std::string& name) const;
    00068
    00069     /** loads a gpl (gimp pallette file) and returns the number loaded colors
    00070         The name of the colors should not contain white spaces!
    00071      */
    00072     int loadPalette(const std::string& gplfilename);
    00073     /** loads aliases from text file with lines containing:\n
    00074         aliasname colorname/id [alias-set]
    00075         @param alias_set_offset number that is added to the alias_set number in the file
    00076      */
    00077     int loadAliases(const std::string& filename, int alias_set_offset = 0);
    00078
    00079     /** adds a color to the color store
    00080         (to add the id call the function twice with id as name)
    00081     */
    00082     void addColor(const Color& color, const std::string& name);
    00083
    00084     /** adds a color alias (into the given alias-set)
    00085         @param name name/id of existing color
    00086         @param alias new name
    00087         @return true if alias was stored or
    00088          false if color name does not exists or
    00089                alias names a color and is therefor rejected
    00090     */
    00091     bool addAlias(const std::string& name, const std::string& alias, int alias_set = 0);
    00092
    00093     void setDefaultColor(const Color& c);
    00094     const Color& getDefaultColor() const;
    00095
    00096     /// returns error string for value returned by loadPalette and loadAliases
    00097     std::string getLoadErrorString(int value) const;
    00098
    00099     /// prints all colors and aliases
    00100     void print(std::ostream& out) const ;
    00101
    00102   protected:
    00103     // only name/id no alias checking
    00104     bool getColor(Color&, const std::string& name) const;
    00105
    00106   private:
    00107     Color dummy;
    00108     ColorMap colors;
    00109     AliasMap aliases;
    00110   };
    00111 }
    00112
    00113 #endif