00001 /* 00002 * Copyright (C) 2011 Google Inc. 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); you may not 00005 * use this file except in compliance with the License. You may obtain a copy of 00006 * the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT 00012 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the 00013 * License for the specific language governing permissions and limitations under 00014 * the License. 00015 */ 00016 00017 package org.ros.android.view.visualization.shape; 00018 00019 import org.ros.android.view.visualization.VisualizationView; 00020 00021 import javax.microedition.khronos.opengles.GL10; 00022 00031 public class PixelSpacePoseShape extends MetricSpacePoseShape { 00032 00033 private static final float PIXELS_PER_METER = 250.f; 00034 00035 @Override 00036 protected void scale(VisualizationView view, GL10 gl) { 00037 // Adjust for metric scale definition of MetricSpacePoseShape vertices. 00038 gl.glScalef(PIXELS_PER_METER, 250.f, 1.f); 00039 // Counter adjust for the camera zoom. 00040 gl.glScalef(1 / (float) view.getCamera().getZoom(), 1 / (float) view.getCamera().getZoom(), 00041 1.0f); 00042 } 00043 }