Public Member Functions
void	apply (GL10 gl)
boolean	applyFrameTransform (GL10 gl, FrameName frame)
	Camera (FrameTransformTree frameTransformTree)
FrameName	getFrame ()
double	getZoom ()
void	jumpToFrame (FrameName frame)
void	jumpToFrame (String frame)
void	rotate (double focusX, double focusY, double deltaAngle)
void	setFrame (FrameName frame)
void	setFrame (String frame)
void	setViewport (Viewport viewport)
Vector3	toMetricCoordinates (int x, int y)
void	translate (double deltaX, double deltaY)
void	zoom (double focusX, double focusY, double factor)
Private Member Functions
void	resetTransform ()
Private Attributes
FrameName	frame
final FrameTransformTree	frameTransformTree
final Object	mutex
Transform	transform
Viewport	viewport
Static Private Attributes
static final double	DEFAULT_ZOOM = 100.0
static final float	MAXIMUM_ZOOM = 500
static final float	MINIMUM_ZOOM = 10

Detailed Description

Author:: damonkohler@google.com (Damon Kohler); moesenle@google.com (Lorenz Moesenlechner)

Definition at line 34 of file Camera.java.

Constructor & Destructor Documentation

org.ros.android.view.visualization.Camera.Camera ( FrameTransformTree frameTransformTree ) [inline]

Definition at line 67 of file Camera.java.

Member Function Documentation

void org.ros.android.view.visualization.Camera.apply ( GL10 gl ) [inline]

Definition at line 78 of file Camera.java.

boolean org.ros.android.view.visualization.Camera.applyFrameTransform	(	GL10	gl,
		FrameName	frame
	)		`[inline]`

Definition at line 84 of file Camera.java.

FrameName org.ros.android.view.visualization.Camera.getFrame ( ) [inline]

Definition at line 164 of file Camera.java.

double org.ros.android.view.visualization.Camera.getZoom ( ) [inline]

Returns:: the current zoom factor

Definition at line 150 of file Camera.java.

void org.ros.android.view.visualization.Camera.jumpToFrame ( FrameName frame ) [inline]

Changes the camera frame to the specified frame and aligns the camera with the new frame.

Parameters:

frame the new camera frame

Definition at line 205 of file Camera.java.

void org.ros.android.view.visualization.Camera.jumpToFrame ( String frame ) [inline]

See also:: jumpToFrame(FrameName)

Definition at line 217 of file Camera.java.

void org.ros.android.view.visualization.Camera.resetTransform ( ) [inline, private]

Definition at line 73 of file Camera.java.

void org.ros.android.view.visualization.Camera.rotate	(	double	focusX,
		double	focusY,
		double	deltaAngle
	)		`[inline]`

Rotates the camera round the specified coordinates.

Parameters:

focusX	the x coordinate to focus on
focusY	the y coordinate to focus on
deltaAngle	the camera will be rotated by deltaAngle radians

Definition at line 120 of file Camera.java.

void org.ros.android.view.visualization.Camera.setFrame ( FrameName frame ) [inline]

Changes the camera frame to the specified frame.

If possible, the camera will avoid jumping on the next frame.

Parameters:

frame the new camera frame

Definition at line 176 of file Camera.java.

void org.ros.android.view.visualization.Camera.setFrame ( String frame ) [inline]

See also:: setFrame(FrameName)

Definition at line 194 of file Camera.java.

void org.ros.android.view.visualization.Camera.setViewport ( Viewport viewport ) [inline]

Definition at line 221 of file Camera.java.

Vector3 org.ros.android.view.visualization.Camera.toMetricCoordinates	(	int	x,
		int	y
	)		`[inline]`

Returns:: the metric coordinates of the provided pixel coordinates where the origin is the top left corner of the view

Definition at line 158 of file Camera.java.

void org.ros.android.view.visualization.Camera.translate	(	double	deltaX,
		double	deltaY
	)		`[inline]`

Translates the camera.

Parameters:

deltaX	distance to move in x in pixels
deltaY	distance to move in y in pixels

Definition at line 104 of file Camera.java.

void org.ros.android.view.visualization.Camera.zoom	(	double	focusX,
		double	focusY,
		double	factor
	)		`[inline]`

Zooms the camera around the specified focus coordinates.

Parameters:

focusX	the x coordinate to focus on
focusY	the y coordinate to focus on
factor	the zoom will be scaled by this factor

Definition at line 139 of file Camera.java.

Member Data Documentation

final double org.ros.android.view.visualization.Camera.DEFAULT_ZOOM = 100.0 [static, private]

Pixels per meter in the world. If zoom is set to the number of pixels per meter (the display density) then 1 cm in the world will be displayed as 1 cm on the display.

Definition at line 41 of file Camera.java.

FrameName org.ros.android.view.visualization.Camera.frame [private]

The frame in which to render everything. The default value is /map which indicates that everything is rendered in map. If this is changed to, for instance, base_link, the view follows the robot and the robot itself is in the origin.

Definition at line 65 of file Camera.java.

final FrameTransformTree org.ros.android.view.visualization.Camera.frameTransformTree [private]

Definition at line 53 of file Camera.java.

final float org.ros.android.view.visualization.Camera.MAXIMUM_ZOOM = 500 [static, private]

Most the user can zoom out.

Definition at line 51 of file Camera.java.

final float org.ros.android.view.visualization.Camera.MINIMUM_ZOOM = 10 [static, private]

Most the user can zoom in.

Definition at line 46 of file Camera.java.

final Object org.ros.android.view.visualization.Camera.mutex [private]

Definition at line 54 of file Camera.java.

Transform org.ros.android.view.visualization.Camera.transform [private]