data_colour.hpp

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/*
 * SPDX-FileCopyrightText: 2021-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021-2022 Nils Funk
 * SPDX-FileCopyrightText: 2021-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_DATA_COLOUR_HPP
#define SE_DATA_COLOUR_HPP
 
#include <se/common/bounded_vector.hpp>
#include <se/map/utils/setup_util.hpp>
#include <se/map/utils/type_util.hpp>
 
namespace se {
 
// Colour data
template<Colour ColB>
struct ColourData {
    struct Config {
        void readYaml(const std::string& /* yaml_file */)
        {
        }
    };
};
 
template<>
struct ColourData<Colour::On> {
    colour_t colour;
    std::uint8_t weight = 0;
 
    bool update(const colour_t colour, const std::uint8_t max_weight);
 
    void setToMean(const BoundedVector<ColourData, 8>& child_data);
 
    struct Config {
        void readYaml(const std::string& yaml_file);
    };
};
 
std::ostream& operator<<(std::ostream& os, const ColourData<Colour::Off>::Config& c);
std::ostream& operator<<(std::ostream& os, const ColourData<Colour::On>::Config& c);
 
} // namespace se
 
#include "impl/data_colour_impl.hpp"
 
#endif // SE_DATA_COLOUR_HPP