BaseShape.java

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package org.ros.android.view.visualization.shape;

import com.google.common.base.Preconditions;

import org.ros.android.view.visualization.Color;
import org.ros.android.view.visualization.OpenGlTransform;
import org.ros.android.view.visualization.VisualizationView;
import org.ros.rosjava_geometry.Transform;

import javax.microedition.khronos.opengles.GL10;

abstract class BaseShape implements Shape {

  private Color color;
  private Transform transform;

  public BaseShape() {
    setTransform(Transform.identity());
  }

  @Override
  public void draw(VisualizationView view, GL10 gl) {
    gl.glPushMatrix();
    OpenGlTransform.apply(gl, getTransform());
    scale(view, gl);
    drawShape(view, gl);
    gl.glPopMatrix();
  }

  abstract protected void drawShape(VisualizationView view, GL10 gl);

  protected void scale(VisualizationView view, GL10 gl) {
    // The default scale is in metric space.
  }

  @Override
  public Color getColor() {
    Preconditions.checkNotNull(color);
    return color;
  }

  @Override
  public void setColor(Color color) {
    this.color = color;
  }

  @Override
  public Transform getTransform() {
    Preconditions.checkNotNull(transform);
    return transform;
  }

  @Override
  public void setTransform(Transform pose) {
    this.transform = pose;
  }
}