PixelSpacePoseShape.java

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/*
 * Copyright (C) 2011 Google Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

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

import org.ros.android.view.visualization.VisualizationView;

import javax.microedition.khronos.opengles.GL10;

public class PixelSpacePoseShape extends MetricSpacePoseShape {

  private static final float PIXELS_PER_METER = 250.f;

  @Override
  protected void scale(VisualizationView view, GL10 gl) {
    // Adjust for metric scale definition of MetricSpacePoseShape vertices.
    gl.glScalef(PIXELS_PER_METER, 250.f, 1.f);
    // Counter adjust for the camera zoom.
    gl.glScalef(1 / (float) view.getCamera().getZoom(), 1 / (float) view.getCamera().getZoom(),
        1.0f);
  }
}