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<div class="subTitle">org.ros.android.view</div>
<h2 title="Class DistanceView" class="title">Class DistanceView</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>GLSurfaceView</li>
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<li>org.ros.android.view.DistanceView</li>
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<dt>All Implemented Interfaces:</dt>
<dd>org.ros.message.MessageListener&lt;sensor_msgs.LaserScan&gt;, org.ros.node.NodeListener, org.ros.node.NodeMain</dd>
</dl>
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<br>
<pre>public class <span class="strong">DistanceView</span>
extends GLSurfaceView
implements org.ros.node.NodeMain, org.ros.message.MessageListener&lt;sensor_msgs.LaserScan&gt;</pre>
<div class="block">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.</div>
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<th class="colOne" scope="col">Constructor and Description</th>
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<td class="colOne"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#DistanceView(Context)">DistanceView</a></strong>(Context&nbsp;context)</code>
<div class="block">Initialize the rendering surface.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#DistanceView(Context, AttributeSet)">DistanceView</a></strong>(Context&nbsp;context,
            AttributeSet&nbsp;attrs)</code>&nbsp;</td>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
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<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#currentSpeed(double)">currentSpeed</a></strong>(double&nbsp;speed)</code>
<div class="block">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.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>org.ros.namespace.GraphName</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#getDefaultNodeName()">getDefaultNodeName</a></strong>()</code>&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#lockZoom()">lockZoom</a></strong>()</code>
<div class="block">Prevents changes to the zoom level.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#onError(org.ros.node.Node, java.lang.Throwable)">onError</a></strong>(org.ros.node.Node&nbsp;node,
       java.lang.Throwable&nbsp;throwable)</code>&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#onNewMessage(sensor_msgs.LaserScan)">onNewMessage</a></strong>(sensor_msgs.LaserScan&nbsp;message)</code>&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#onShutdown(org.ros.node.Node)">onShutdown</a></strong>(org.ros.node.Node&nbsp;node)</code>&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#onShutdownComplete(org.ros.node.Node)">onShutdownComplete</a></strong>(org.ros.node.Node&nbsp;node)</code>&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#onStart(org.ros.node.ConnectedNode)">onStart</a></strong>(org.ros.node.ConnectedNode&nbsp;connectedNode)</code>&nbsp;</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#onTouch(View, MotionEvent)">onTouch</a></strong>(View&nbsp;v,
       MotionEvent&nbsp;event)</code>&nbsp;</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#setTopicName(java.lang.String)">setTopicName</a></strong>(java.lang.String&nbsp;topicName)</code>
<div class="block">Sets the topic that the distance view node should subscribe to.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#setZoomMode(org.ros.android.view.ZoomMode)">setZoomMode</a></strong>(<a href="../../../../org/ros/android/view/ZoomMode.html" title="enum in org.ros.android.view">ZoomMode</a>&nbsp;mode)</code>
<div class="block">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>.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><strong><a href="../../../../org/ros/android/view/DistanceView.html#unlockZoom()">unlockZoom</a></strong>()</code>
<div class="block">Unlocks the zoom allowing it to be changed.</div>
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<h3>Methods inherited from class&nbsp;java.lang.Object</h3>
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<h3>Methods inherited from interface&nbsp;org.ros.message.MessageListener</h3>
<code>onNewMessage</code></li>
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<h4>DistanceView</h4>
<pre>public&nbsp;DistanceView(Context&nbsp;context)</pre>
<div class="block">Initialize the rendering surface.</div>
<dl><dt><span class="strong">Parameters:</span></dt><dd><code>context</code> - </dd></dl>
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<h4>DistanceView</h4>
<pre>public&nbsp;DistanceView(Context&nbsp;context,
            AttributeSet&nbsp;attrs)</pre>
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<h4>setTopicName</h4>
<pre>public&nbsp;void&nbsp;setTopicName(java.lang.String&nbsp;topicName)</pre>
<div class="block">Sets the topic that the distance view node should subscribe to.</div>
<dl><dt><span class="strong">Parameters:</span></dt><dd><code>topicName</code> - Name of the ROS topic.</dd></dl>
</li>
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<a name="getDefaultNodeName()">
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<h4>getDefaultNodeName</h4>
<pre>public&nbsp;org.ros.namespace.GraphName&nbsp;getDefaultNodeName()</pre>
<dl>
<dt><strong>Specified by:</strong></dt>
<dd><code>getDefaultNodeName</code>&nbsp;in interface&nbsp;<code>org.ros.node.NodeMain</code></dd>
</dl>
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<a name="onStart(org.ros.node.ConnectedNode)">
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<h4>onStart</h4>
<pre>public&nbsp;void&nbsp;onStart(org.ros.node.ConnectedNode&nbsp;connectedNode)</pre>
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<dt><strong>Specified by:</strong></dt>
<dd><code>onStart</code>&nbsp;in interface&nbsp;<code>org.ros.node.NodeListener</code></dd>
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<h4>onShutdown</h4>
<pre>public&nbsp;void&nbsp;onShutdown(org.ros.node.Node&nbsp;node)</pre>
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<dd><code>onShutdown</code>&nbsp;in interface&nbsp;<code>org.ros.node.NodeListener</code></dd>
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<pre>public&nbsp;void&nbsp;onShutdownComplete(org.ros.node.Node&nbsp;node)</pre>
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<dt><strong>Specified by:</strong></dt>
<dd><code>onShutdownComplete</code>&nbsp;in interface&nbsp;<code>org.ros.node.NodeListener</code></dd>
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<pre>public&nbsp;void&nbsp;onError(org.ros.node.Node&nbsp;node,
           java.lang.Throwable&nbsp;throwable)</pre>
<dl>
<dt><strong>Specified by:</strong></dt>
<dd><code>onError</code>&nbsp;in interface&nbsp;<code>org.ros.node.NodeListener</code></dd>
</dl>
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<h4>onNewMessage</h4>
<pre>public&nbsp;void&nbsp;onNewMessage(sensor_msgs.LaserScan&nbsp;message)</pre>
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<h4>setZoomMode</h4>
<pre>public&nbsp;void&nbsp;setZoomMode(<a href="../../../../org/ros/android/view/ZoomMode.html" title="enum in org.ros.android.view">ZoomMode</a>&nbsp;mode)</pre>
<div class="block">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>.</div>
<dl><dt><span class="strong">Parameters:</span></dt><dd><code>mode</code> - The zoom mode that must be set.</dd></dl>
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<h4>lockZoom</h4>
<pre>public&nbsp;void&nbsp;lockZoom()</pre>
<div class="block">Prevents changes to the zoom level.</div>
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<!--   -->
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<h4>unlockZoom</h4>
<pre>public&nbsp;void&nbsp;unlockZoom()</pre>
<div class="block">Unlocks the zoom allowing it to be changed.</div>
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<h4>currentSpeed</h4>
<pre>public&nbsp;void&nbsp;currentSpeed(double&nbsp;speed)</pre>
<div class="block">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.</div>
<dl><dt><span class="strong">Parameters:</span></dt><dd><code>speed</code> - The linear velocity of the robot.</dd></dl>
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<h4>onTouch</h4>
<pre>public&nbsp;boolean&nbsp;onTouch(View&nbsp;v,
              MotionEvent&nbsp;event)</pre>
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