RobotLayer.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.layer;

import org.ros.android.view.visualization.VisualizationView;
import org.ros.android.view.visualization.shape.PixelSpacePoseShape;
import org.ros.android.view.visualization.shape.Shape;
import org.ros.namespace.GraphName;
import org.ros.node.ConnectedNode;

import javax.microedition.khronos.opengles.GL10;

public class RobotLayer extends DefaultLayer implements TfLayer {

  private final GraphName frame;

  private Shape shape;

  public RobotLayer(GraphName frame) {
    this.frame = frame;
  }

  public RobotLayer(String frame) {
    this(GraphName.of(frame));
  }

  @Override
  public void draw(VisualizationView view, GL10 gl) {
    if (shape != null) {
      shape.draw(view, gl);
    }
  }

  @Override
  public void onStart(VisualizationView view, ConnectedNode connectedNode) {
    shape = new PixelSpacePoseShape();
  }

  @Override
  public GraphName getFrame() {
    return frame;
  }
}