Colors and Color Alias Sets

Since 0.7 we support color palettes and schemas in ode_robots.

The basic idea is simple:

We have a list of colors (loaded from gimp palette files) that carry a name. We have alias names for these colors to allow some abstraction. Aliases may point to different colors depending on the alias-set. See lpzrobots::ColorSchema for the implementation and lpzrobots::OsgHandle for the access.

Example:

Assume we have colors: Red, Green, Blue. An alias may be called groundcolor pointing to Green. So far so good. Now we can define for each alias a color for different color sets. Let's say we define alias robot1 that points to Red in set 0 and to Blue in set 1.

In the implementation of a robot we simply use the color robot1, but we can change the default color set (in the lpzrobots::OsgHandle) such that the robot magically becomes blue.

Files:

For an example palette file check: ode_robots/osg/data/colors/DefaultColors.gpl

The default color-set file is located at: ode_robots/osg/data/colors/DefaultColorsSchema.txt

The format is

# comment
AliasName  ColorName [Set]
...

where ColorName cannot refer to another alias and Set is optional (0 by default)

BTW: By providing your own alias files you can tune the colors of your simulation without recompiling it. The files are searched relative to the folders: data/, PREFIX/share/lpzrobots/data, and if the variable ODE_ROBOTS_DATA exists, then also there.

There is a big palette file called RGB_full.gpl that contains the colors from a book called "Farbwelten" from www.CleverPrinting.de. It is great resource for colors but it is unfortunatelly in German, so most of the color names are in german too.

Handling:

If a alias is accessed and there is no color found for the current alias-set then the color refered to in the set 0 is used. If this also does not exist then the default color is used.

If you want to change the colors in your simulation you can load a different color-alias-set. See for instance UrbanColorSchema.txt, UrbanExtraColors.gpl in the colors folder. You need to register them with your simulation in the constructor with lpzrobots::Simulation::addPaletteFile and lpzrobots::Simulation::addColorAliasFile. An example is given in ode_robots/simulations/zoo/main.cpp. You may load them later as well, but the colors used for the environment will not be affected this way.