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Camera
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org.ros.android.view.visualization</FONT>
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Class Camera</H2>
<PRE>
java.lang.Object
  <IMG SRC="../../../../../resources/inherit.gif" ALT="extended by "><B>org.ros.android.view.visualization.Camera</B>
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<DL>
<DT><PRE>public class <B>Camera</B><DT>extends java.lang.Object</DL>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->

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<TD><CODE><B><A HREF="../../../../../org/ros/android/view/visualization/Camera.html#Camera(org.ros.rosjava_geometry.FrameTransformTree)">Camera</A></B>(org.ros.rosjava_geometry.FrameTransformTree&nbsp;frameTransformTree)</CODE>

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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/visualization/Camera.html#apply(GL10)">apply</A></B>(GL10&nbsp;gl)</CODE>

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&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<CODE>&nbsp;org.ros.rosjava_geometry.Vector3</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../../org/ros/android/view/visualization/Camera.html#getCamera()">getCamera</A></B>()</CODE>

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&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<CODE>&nbsp;org.ros.namespace.GraphName</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../../org/ros/android/view/visualization/Camera.html#getFixedFrame()">getFixedFrame</A></B>()</CODE>

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<CODE>&nbsp;org.ros.namespace.GraphName</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../../org/ros/android/view/visualization/Camera.html#getTargetFrame()">getTargetFrame</A></B>()</CODE>

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&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;<A HREF="../../../../../org/ros/android/view/visualization/Viewport.html" title="class in org.ros.android.view.visualization">Viewport</A></CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../../org/ros/android/view/visualization/Camera.html#getViewport()">getViewport</A></B>()</CODE>

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&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;float</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../../org/ros/android/view/visualization/Camera.html#getZoom()">getZoom</A></B>()</CODE>

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&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/visualization/Camera.html#moveCameraScreenCoordinates(float, float)">moveCameraScreenCoordinates</A></B>(float&nbsp;xDistance,
                            float&nbsp;yDistance)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Moves the camera.</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/visualization/Camera.html#resetFixedFrame()">resetFixedFrame</A></B>()</CODE>

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&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/visualization/Camera.html#resetTargetFrame()">resetTargetFrame</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/visualization/Camera.html#setCamera(org.ros.rosjava_geometry.Vector3)">setCamera</A></B>(org.ros.rosjava_geometry.Vector3&nbsp;newCameraPoint)</CODE>

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&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/visualization/Camera.html#setFixedFrame(org.ros.namespace.GraphName)">setFixedFrame</A></B>(org.ros.namespace.GraphName&nbsp;fixedFrame)</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/visualization/Camera.html#setTargetFrame(org.ros.namespace.GraphName)">setTargetFrame</A></B>(org.ros.namespace.GraphName&nbsp;frame)</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/visualization/Camera.html#setViewport(org.ros.android.view.visualization.Viewport)">setViewport</A></B>(<A HREF="../../../../../org/ros/android/view/visualization/Viewport.html" title="class in org.ros.android.view.visualization">Viewport</A>&nbsp;viewport)</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/visualization/Camera.html#setZoom(float)">setZoom</A></B>(float&nbsp;zoom)</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;org.ros.rosjava_geometry.Transform</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../../org/ros/android/view/visualization/Camera.html#toOpenGLPose(Point, float)">toOpenGLPose</A></B>(Point&nbsp;goalScreenPoint,
             float&nbsp;orientation)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Returns the pose in the OpenGL world that corresponds to a screen
 coordinate and an orientation.</TD>
</TR>
<TR BGCOLOR="white" CLASS="TableRowColor">
<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
<CODE>&nbsp;org.ros.rosjava_geometry.Vector3</CODE></FONT></TD>
<TD><CODE><B><A HREF="../../../../../org/ros/android/view/visualization/Camera.html#toWorldCoordinates(Point)">toWorldCoordinates</A></B>(Point&nbsp;screenPoint)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Returns the real world equivalent of the viewport coordinates specified.</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/visualization/Camera.html#zoomCamera(float)">zoomCamera</A></B>(float&nbsp;factor)</CODE>

<BR>
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</TD>
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<TH ALIGN="left"><B>Methods inherited from class java.lang.Object</B></TH>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->

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<A NAME="Camera(org.ros.rosjava_geometry.FrameTransformTree)"><!-- --></A><H3>
Camera</H3>
<PRE>
public <B>Camera</B>(org.ros.rosjava_geometry.FrameTransformTree&nbsp;frameTransformTree)</PRE>
<DL>
</DL>

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

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<A NAME="apply(GL10)"><!-- --></A><H3>
apply</H3>
<PRE>
public void <B>apply</B>(GL10&nbsp;gl)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="moveCameraScreenCoordinates(float, float)"><!-- --></A><H3>
moveCameraScreenCoordinates</H3>
<PRE>
public void <B>moveCameraScreenCoordinates</B>(float&nbsp;xDistance,
                                        float&nbsp;yDistance)</PRE>
<DL>
<DD>Moves the camera.
 
 <p>
 The distances are given in viewport coordinates, not in world coordinates.
<P>
<DD><DL>
<DT><B>Parameters:</B><DD><CODE>xDistance</CODE> - distance in x to move<DD><CODE>yDistance</CODE> - distance in y to move</DL>
</DD>
</DL>
<HR>

<A NAME="setCamera(org.ros.rosjava_geometry.Vector3)"><!-- --></A><H3>
setCamera</H3>
<PRE>
public void <B>setCamera</B>(org.ros.rosjava_geometry.Vector3&nbsp;newCameraPoint)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="getCamera()"><!-- --></A><H3>
getCamera</H3>
<PRE>
public org.ros.rosjava_geometry.Vector3 <B>getCamera</B>()</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="zoomCamera(float)"><!-- --></A><H3>
zoomCamera</H3>
<PRE>
public void <B>zoomCamera</B>(float&nbsp;factor)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="toWorldCoordinates(Point)"><!-- --></A><H3>
toWorldCoordinates</H3>
<PRE>
public org.ros.rosjava_geometry.Vector3 <B>toWorldCoordinates</B>(Point&nbsp;screenPoint)</PRE>
<DL>
<DD>Returns the real world equivalent of the viewport coordinates specified.
<P>
<DD><DL>

<DT><B>Returns:</B><DD>the world coordinates of the provided screen coordinates</DL>
</DD>
</DL>
<HR>

<A NAME="toOpenGLPose(Point, float)"><!-- --></A><H3>
toOpenGLPose</H3>
<PRE>
public org.ros.rosjava_geometry.Transform <B>toOpenGLPose</B>(Point&nbsp;goalScreenPoint,
                                                       float&nbsp;orientation)</PRE>
<DL>
<DD>Returns the pose in the OpenGL world that corresponds to a screen
 coordinate and an orientation.
<P>
<DD><DL>
<DT><B>Parameters:</B><DD><CODE>goalScreenPoint</CODE> - the point on the screen<DD><CODE>orientation</CODE> - the orientation of the pose on the screen</DL>
</DD>
</DL>
<HR>

<A NAME="getFixedFrame()"><!-- --></A><H3>
getFixedFrame</H3>
<PRE>
public org.ros.namespace.GraphName <B>getFixedFrame</B>()</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="setFixedFrame(org.ros.namespace.GraphName)"><!-- --></A><H3>
setFixedFrame</H3>
<PRE>
public void <B>setFixedFrame</B>(org.ros.namespace.GraphName&nbsp;fixedFrame)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="resetFixedFrame()"><!-- --></A><H3>
resetFixedFrame</H3>
<PRE>
public void <B>resetFixedFrame</B>()</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="setTargetFrame(org.ros.namespace.GraphName)"><!-- --></A><H3>
setTargetFrame</H3>
<PRE>
public void <B>setTargetFrame</B>(org.ros.namespace.GraphName&nbsp;frame)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="resetTargetFrame()"><!-- --></A><H3>
resetTargetFrame</H3>
<PRE>
public void <B>resetTargetFrame</B>()</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="getTargetFrame()"><!-- --></A><H3>
getTargetFrame</H3>
<PRE>
public org.ros.namespace.GraphName <B>getTargetFrame</B>()</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="getViewport()"><!-- --></A><H3>
getViewport</H3>
<PRE>
public <A HREF="../../../../../org/ros/android/view/visualization/Viewport.html" title="class in org.ros.android.view.visualization">Viewport</A> <B>getViewport</B>()</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="setViewport(org.ros.android.view.visualization.Viewport)"><!-- --></A><H3>
setViewport</H3>
<PRE>
public void <B>setViewport</B>(<A HREF="../../../../../org/ros/android/view/visualization/Viewport.html" title="class in org.ros.android.view.visualization">Viewport</A>&nbsp;viewport)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="getZoom()"><!-- --></A><H3>
getZoom</H3>
<PRE>
public float <B>getZoom</B>()</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
<HR>

<A NAME="setZoom(float)"><!-- --></A><H3>
setZoom</H3>
<PRE>
public void <B>setZoom</B>(float&nbsp;zoom)</PRE>
<DL>
<DD><DL>
</DL>
</DD>
</DL>
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