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  /* Author: Josh Faust */
  
  #ifndef URDF_INTERFACE_COLOR_H
  #define URDF_INTERFACE_COLOR_H
  
  #include <stdexcept>
  #include <string>
  #include <vector>
  #include <math.h>
  
  #include <urdf_model/utils.h>
  
  namespace urdf
  {
  
  class Color
  {
  public:
    Color() {this->clear();};
    float r;
    float g;
    float b;
    float a;
  
    void clear()
    {
      r = g = b = 0.0f;
      a = 1.0f;
    }
    bool init(const std::string &vector_str)
    {
      this->clear();
      std::vector<std::string> pieces;
      std::vector<float> rgba;
      urdf::split_string( pieces, vector_str, " ");
      for (unsigned int i = 0; i < pieces.size(); ++i)
      {
        if (!pieces[i].empty())
        {
          try
          {
            double piece = strToDouble(pieces[i].c_str());
            if ((piece < 0) || (piece > 1))
              throw ParseError("Component [" + pieces[i] + "] is outside the valid range for colors [0, 1]");
            rgba.push_back(static_cast<float>(piece));
          }
          catch (std::runtime_error &/*e*/) {
            throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a color value)");
          }
        }
      }
  
      if (rgba.size() != 4)
      {
        return false;
      }
  
      this->r = rgba[0];
      this->g = rgba[1];
      this->b = rgba[2];
      this->a = rgba[3];
  
      return true;
    };
  };
  
  }
  
  #endif
  
  