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DistanceView
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org.ros.android.view</FONT>
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Class DistanceView</H2>
<PRE>
java.lang.Object
  <IMG SRC="../../../../resources/inherit.gif" ALT="extended by ">GLSurfaceView
      <IMG SRC="../../../../resources/inherit.gif" ALT="extended by "><B>org.ros.android.view.DistanceView</B>
</PRE>
<DL>
<DT><B>All Implemented Interfaces:</B> <DD>org.ros.message.MessageListener&lt;sensor_msgs.LaserScan&gt;, org.ros.node.NodeListener, org.ros.node.NodeMain</DD>
</DL>
<HR>
<DL>
<DT><PRE>public class <B>DistanceView</B><DT>extends GLSurfaceView<DT>implements org.ros.node.NodeMain, org.ros.message.MessageListener&lt;sensor_msgs.LaserScan&gt;</DL>
</PRE>

<P>
An OpenGL view that displayed data from a laser scanner (or similar sensors
 like a kinect). This view can zoom in/out based in one of three modes. The
 user can change the zoom level through a pinch/reverse-pinch, the zoom level
 can auto adjust based on the speed of the robot, and the zoom level can also
 auto adjust based on the distance to the closest object around the robot.
<P>

<P>
<HR>

<P>

<!-- ======== CONSTRUCTOR SUMMARY ======== -->

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<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#DistanceView(Context)">DistanceView</A></B>(Context&nbsp;context)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Initialize the rendering surface.</TD>
</TR>
<TR BGCOLOR="white" CLASS="TableRowColor">
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#DistanceView(Context, AttributeSet)">DistanceView</A></B>(Context&nbsp;context,
             AttributeSet&nbsp;attrs)</CODE>

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&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#currentSpeed(double)">currentSpeed</A></B>(double&nbsp;speed)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Updates the current speed in <A HREF="../../../../org/ros/android/view/DistanceView.html#distanceRenderer"><CODE>distanceRenderer</CODE></A> which then can
 adjust the zoom level in velocity mode.</TD>
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<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;org.ros.namespace.GraphName</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#getDefaultNodeName()">getDefaultNodeName</A></B>()</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#lockZoom()">lockZoom</A></B>()</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Prevents changes to the zoom level.</TD>
</TR>
<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#onError(org.ros.node.Node, java.lang.Throwable)">onError</A></B>(org.ros.node.Node&nbsp;node,
        java.lang.Throwable&nbsp;throwable)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#onNewMessage(sensor_msgs.LaserScan)">onNewMessage</A></B>(sensor_msgs.LaserScan&nbsp;message)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#onShutdown(org.ros.node.Node)">onShutdown</A></B>(org.ros.node.Node&nbsp;node)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#onShutdownComplete(org.ros.node.Node)">onShutdownComplete</A></B>(org.ros.node.Node&nbsp;node)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#onStart(org.ros.node.ConnectedNode)">onStart</A></B>(org.ros.node.ConnectedNode&nbsp;connectedNode)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;boolean</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#onTouch(View, MotionEvent)">onTouch</A></B>(View&nbsp;v,
        MotionEvent&nbsp;event)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
</TR>
<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#setTopicName(java.lang.String)">setTopicName</A></B>(java.lang.String&nbsp;topicName)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Sets the topic that the distance view node should subscribe to.</TD>
</TR>
<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#setZoomMode(org.ros.android.view.ZoomMode)">setZoomMode</A></B>(<A HREF="../../../../org/ros/android/view/ZoomMode.html" title="enum in org.ros.android.view">ZoomMode</A>&nbsp;mode)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Sets the zoom mode to one of the modes in <A HREF="../../../../org/ros/android/view/ZoomMode.html" title="enum in org.ros.android.view"><CODE>ZoomMode</CODE></A>.</TD>
</TR>
<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;void</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../org/ros/android/view/DistanceView.html#unlockZoom()">unlockZoom</A></B>()</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Unlocks the zoom allowing it to be changed.</TD>
</TR>
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&nbsp;<A NAME="methods_inherited_from_class_java.lang.Object"><!-- --></A>
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<TH ALIGN="left"><B>Methods inherited from class java.lang.Object</B></TH>
</TR>
<TR BGCOLOR="white" CLASS="TableRowColor">
<TD><CODE>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</CODE></TD>
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&nbsp;<A NAME="methods_inherited_from_class_org.ros.message.MessageListener"><!-- --></A>
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<TH ALIGN="left"><B>Methods inherited from interface org.ros.message.MessageListener</B></TH>
</TR>
<TR BGCOLOR="white" CLASS="TableRowColor">
<TD><CODE>onNewMessage</CODE></TD>
</TR>
</TABLE>
&nbsp;
<P>

<!-- ========= CONSTRUCTOR DETAIL ======== -->

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<B>Constructor Detail</B></FONT></TH>
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<A NAME="DistanceView(Context)"><!-- --></A><H3>
DistanceView</H3>
<PRE>
public <B>DistanceView</B>(Context&nbsp;context)</PRE>
<DL>
<DD>Initialize the rendering surface.
<P>
<DL>
<DT><B>Parameters:</B><DD><CODE>context</CODE> - </DL>
</DL>
<HR>

<A NAME="DistanceView(Context, AttributeSet)"><!-- --></A><H3>
DistanceView</H3>
<PRE>
public <B>DistanceView</B>(Context&nbsp;context,
                    AttributeSet&nbsp;attrs)</PRE>
<DL>
</DL>

<!-- ============ METHOD DETAIL ========== -->

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<A NAME="setTopicName(java.lang.String)"><!-- --></A><H3>
setTopicName</H3>
<PRE>
public void <B>setTopicName</B>(java.lang.String&nbsp;topicName)</PRE>
<DL>
<DD>Sets the topic that the distance view node should subscribe to.
<P>
<DD><DL>
</DL>
</DD>
<DD><DL>
<DT><B>Parameters:</B><DD><CODE>topicName</CODE> - Name of the ROS topic.</DL>
</DD>
</DL>
<HR>

<A NAME="getDefaultNodeName()"><!-- --></A><H3>
getDefaultNodeName</H3>
<PRE>
public org.ros.namespace.GraphName <B>getDefaultNodeName</B>()</PRE>
<DL>
<DD><DL>
<DT><B>Specified by:</B><DD><CODE>getDefaultNodeName</CODE> in interface <CODE>org.ros.node.NodeMain</CODE></DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="onStart(org.ros.node.ConnectedNode)"><!-- --></A><H3>
onStart</H3>
<PRE>
public void <B>onStart</B>(org.ros.node.ConnectedNode&nbsp;connectedNode)</PRE>
<DL>
<DD><DL>
<DT><B>Specified by:</B><DD><CODE>onStart</CODE> in interface <CODE>org.ros.node.NodeListener</CODE></DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="onShutdown(org.ros.node.Node)"><!-- --></A><H3>
onShutdown</H3>
<PRE>
public void <B>onShutdown</B>(org.ros.node.Node&nbsp;node)</PRE>
<DL>
<DD><DL>
<DT><B>Specified by:</B><DD><CODE>onShutdown</CODE> in interface <CODE>org.ros.node.NodeListener</CODE></DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="onShutdownComplete(org.ros.node.Node)"><!-- --></A><H3>
onShutdownComplete</H3>
<PRE>
public void <B>onShutdownComplete</B>(org.ros.node.Node&nbsp;node)</PRE>
<DL>
<DD><DL>
<DT><B>Specified by:</B><DD><CODE>onShutdownComplete</CODE> in interface <CODE>org.ros.node.NodeListener</CODE></DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="onError(org.ros.node.Node, java.lang.Throwable)"><!-- --></A><H3>
onError</H3>
<PRE>
public void <B>onError</B>(org.ros.node.Node&nbsp;node,
                    java.lang.Throwable&nbsp;throwable)</PRE>
<DL>
<DD><DL>
<DT><B>Specified by:</B><DD><CODE>onError</CODE> in interface <CODE>org.ros.node.NodeListener</CODE></DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="onNewMessage(sensor_msgs.LaserScan)"><!-- --></A><H3>
onNewMessage</H3>
<PRE>
public void <B>onNewMessage</B>(sensor_msgs.LaserScan&nbsp;message)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="setZoomMode(org.ros.android.view.ZoomMode)"><!-- --></A><H3>
setZoomMode</H3>
<PRE>
public void <B>setZoomMode</B>(<A HREF="../../../../org/ros/android/view/ZoomMode.html" title="enum in org.ros.android.view">ZoomMode</A>&nbsp;mode)</PRE>
<DL>
<DD>Sets the zoom mode to one of the modes in <A HREF="../../../../org/ros/android/view/ZoomMode.html" title="enum in org.ros.android.view"><CODE>ZoomMode</CODE></A>.
<P>
<DD><DL>
</DL>
</DD>
<DD><DL>
<DT><B>Parameters:</B><DD><CODE>mode</CODE> - The zoom mode that must be set.</DL>
</DD>
</DL>
<HR>

<A NAME="lockZoom()"><!-- --></A><H3>
lockZoom</H3>
<PRE>
public void <B>lockZoom</B>()</PRE>
<DL>
<DD>Prevents changes to the zoom level.
<P>
<DD><DL>
</DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="unlockZoom()"><!-- --></A><H3>
unlockZoom</H3>
<PRE>
public void <B>unlockZoom</B>()</PRE>
<DL>
<DD>Unlocks the zoom allowing it to be changed.
<P>
<DD><DL>
</DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="currentSpeed(double)"><!-- --></A><H3>
currentSpeed</H3>
<PRE>
public void <B>currentSpeed</B>(double&nbsp;speed)</PRE>
<DL>
<DD>Updates the current speed in <A HREF="../../../../org/ros/android/view/DistanceView.html#distanceRenderer"><CODE>distanceRenderer</CODE></A> which then can
 adjust the zoom level in velocity mode.
<P>
<DD><DL>
</DL>
</DD>
<DD><DL>
<DT><B>Parameters:</B><DD><CODE>speed</CODE> - The linear velocity of the robot.</DL>
</DD>
</DL>
<HR>

<A NAME="onTouch(View, MotionEvent)"><!-- --></A><H3>
onTouch</H3>
<PRE>
public boolean <B>onTouch</B>(View&nbsp;v,
                       MotionEvent&nbsp;event)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
<DD><DL>
</DL>
</DD>
</DL>
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