Public Member Functions
void	currentSpeed (double speed)
void	loadPreferences (Context context)
void	lockZoom ()
void	onDrawFrame (GL10 gl)
void	onSurfaceChanged (GL10 gl, int w, int h)
void	onSurfaceCreated (GL10 gl, EGLConfig arg1)
void	savePreferences (Context context)
void	setNormalizedZoom (float normalizedZoomValue)
void	setRotation (float theta)
void	setZoomMode (ZoomMode mode)
void	unlockZoom ()
void	updateRange (List< Float > range, float maxRange, float minRange, float minTh, float thIncrement, float minDistToObject)
Private Member Functions
void	setZoom (float distanceFromCenter)
Private Attributes
SharedPreferences.Editor	editor
DistancePoints	rangeLines
SharedPreferences	sharedPreferences
float	theta
float	zoom = MAX_DISTANCE_ZOOM
boolean	zoomLocked
ZoomMode	zoomMode = ZoomMode.CLUTTER_ZOOM_MODE
Static Private Attributes
static final float	DISTANCE_VIEW_FIELD_OF_VIEW = 60f
static final String	DISTANCE_VIEW_ZOOM_LOCK_KEY = "DISTANCE_VIEW_ZOOM_LOCK"
static final String	DISTANCE_VIEW_ZOOM_MODE_KEY = "DISTANCE_VIEW_ZOOM_MODE"
static final double	DISTANCE_VIEW_ZOOM_MULTIPLIER
static final String	DISTANCE_VIEW_ZOOM_VALUE_KEY = "DISTANCE_VIEW_ZOOM_VALUE"
static final float	MAX_DISTANCE_ZOOM = -13.856406465f
static final float	MAX_FOV_DISTANCE = 8f
static final float	MIN_DISTANCE_ZOOM = -5.196152424f
static final float	MIN_FOV_DISTANCE = 3f

Detailed Description

The OpenGL renderer that creates and manages the surface.

Author:: munjaldesai@google.com (Munjal Desai)

Definition at line 35 of file DistanceRenderer.java.

Member Function Documentation

void org.ros.android.view.DistanceRenderer.currentSpeed ( double speed ) [inline]

If zoomMode if set to VELOCITY_ZOOM_MODE, zoom is changed based on the normalized linear velocity.

Parameters:

speed Linear velocity between 1 and -1;

Definition at line 195 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.loadPreferences ( Context context ) [inline]

Reads the settings stored in sharedPreferences and applies them.

Parameters:

context The context of the application calling this.

Definition at line 235 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.lockZoom ( ) [inline]

Prevent the zoom level to be changed.

Definition at line 177 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.onDrawFrame ( GL10 gl ) [inline]

Definition at line 130 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.onSurfaceChanged	(	GL10	gl,
		int	w,
		int	h
	)		`[inline]`

Definition at line 113 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.onSurfaceCreated	(	GL10	gl,
		EGLConfig	arg1
	)		`[inline]`

Definition at line 124 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.savePreferences ( Context context ) [inline]

Saves the existing settings in sharedPreferences via the editor.

Parameters:

context The context of the application calling this.

Definition at line 257 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.setNormalizedZoom ( float normalizedZoomValue ) [inline]

Updates the zoom distance based on the normalized value if the zoomMode is set to CUSTOM_ZOOM_MODE.

Parameters:

normalizedZoomValue The zoom value between 0 and 1.

Definition at line 161 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.setRotation ( float theta ) [inline]

Rotate the entire display.

Parameters:

theta The amount in degrees by which the display should be rotated.

Definition at line 150 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.setZoom ( float distanceFromCenter ) [inline, private]

Calculate the height of the camera based on the desired field of view.

Parameters:

distanceFromCenter The region around the robot (in meters) that must be visible.

Definition at line 271 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.setZoomMode ( ZoomMode mode ) [inline]

Sets the zoom mode.

Definition at line 170 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.unlockZoom ( ) [inline]

Allow the zoom level to be changed.

Definition at line 184 of file DistanceRenderer.java.

void org.ros.android.view.DistanceRenderer.updateRange	(	List< Float >	range,
		float	maxRange,
		float	minRange,
		float	minTh,
		float	thIncrement,
		float	minDistToObject
	)		`[inline]`

The new range values are forwarded to rangeLines and if zoomMode is set to CLUTTER_ZOOM_MODE then zoom is based on the distance to the closest object around the robot.

Parameters:

range	New set of range values.
maxRange	Maximum range to be considered valid.
minRange	Minimum range to be considered valid.
minTh	The starting theta for the range values.
thIncrement	The delta between incremental range scans.
minDistToObject	The distance to the closest object.

Definition at line 219 of file DistanceRenderer.java.

Member Data Documentation

final float org.ros.android.view.DistanceRenderer.DISTANCE_VIEW_FIELD_OF_VIEW = 60f [static, private]

The field of view of the camera in degrees.

Definition at line 64 of file DistanceRenderer.java.

final String org.ros.android.view.DistanceRenderer.DISTANCE_VIEW_ZOOM_LOCK_KEY = "DISTANCE_VIEW_ZOOM_LOCK" [static, private]

The key used to save the state of zoomLocked in shared preferences.

Definition at line 76 of file DistanceRenderer.java.

final String org.ros.android.view.DistanceRenderer.DISTANCE_VIEW_ZOOM_MODE_KEY = "DISTANCE_VIEW_ZOOM_MODE" [static, private]

The key used to save the state of zoomMode in shared preferences.

Definition at line 80 of file DistanceRenderer.java.

final double org.ros.android.view.DistanceRenderer.DISTANCE_VIEW_ZOOM_MULTIPLIER [static, private]

Initial value:

 1 / Math.tan(Math
      .toRadians(DISTANCE_VIEW_FIELD_OF_VIEW / 2))

Value to be multiplied with the opposite side (distance from the center of the view that must be visible) of the triangle to get the adjacent side of the triangle (distance of the camera from the origin).

Definition at line 70 of file DistanceRenderer.java.

final String org.ros.android.view.DistanceRenderer.DISTANCE_VIEW_ZOOM_VALUE_KEY = "DISTANCE_VIEW_ZOOM_VALUE" [static, private]

The key used to save the state of zoom in shared preferences.

Definition at line 84 of file DistanceRenderer.java.

SharedPreferences.Editor org.ros.android.view.DistanceRenderer.editor [private]

Definition at line 110 of file DistanceRenderer.java.

final float org.ros.android.view.DistanceRenderer.MAX_DISTANCE_ZOOM = -13.856406465f [static, private]

Similar concept as MIN_DISTANCE_ZOOM.

Definition at line 60 of file DistanceRenderer.java.

final float org.ros.android.view.DistanceRenderer.MAX_FOV_DISTANCE = 8f [static, private]

The same as MIN_FOV_DISTANCE except limits the maximum area around the robot that will be shown.

Definition at line 48 of file DistanceRenderer.java.

final float org.ros.android.view.DistanceRenderer.MIN_DISTANCE_ZOOM = -5.196152424f [static, private]

The distance from the origin (0,0,0) on the z-axis for the camera to be placed to see { MIN_FOV_DISTANCE} around the robot.X The value is calculated based on simple trigonometry ( { MIN_FOV_DISTANCE} /tan(30)). 60 degrees being the field of view of the camera. This is used to save some computation, since this boundary condition occurs often.

Definition at line 56 of file DistanceRenderer.java.

final float org.ros.android.view.DistanceRenderer.MIN_FOV_DISTANCE = 3f [static, private]

The minimum distance that must be visible in the distance view. A value of { MIN_FOV_DISTANCE} indicates that the distance view will at least show objects within MIN_FOV_DISTANCE/2 meters above, below, to the left, and to the right of the robot.

Definition at line 43 of file DistanceRenderer.java.

DistancePoints org.ros.android.view.DistanceRenderer.rangeLines [private]

Instance of the helper class that draws the sensor values.

Definition at line 88 of file DistanceRenderer.java.

SharedPreferences org.ros.android.view.DistanceRenderer.sharedPreferences [private]

Definition at line 109 of file DistanceRenderer.java.

float org.ros.android.view.DistanceRenderer.theta [private]

The amount of rotation (in degrees) applied to the camera.

TODO: This must be updated based on the current pan of the front facing camera used to navigate.

Definition at line 95 of file DistanceRenderer.java.

float org.ros.android.view.DistanceRenderer.zoom = MAX_DISTANCE_ZOOM [private]

The amount of zoom. The value for zoom represents the distance between the camera and the plane on which the points are rendered.