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				|  |  | +/*
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				|  |  | + * Copyright (C) 2011 Google Inc.
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				|  |  | + *
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				|  |  | + * Licensed under the Apache License, Version 2.0 (the "License"); you may not
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				|  |  | + * use this file except in compliance with the License. You may obtain a copy of
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				|  |  | + * the License at
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				|  |  | + *
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				|  |  | + * http://www.apache.org/licenses/LICENSE-2.0
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				|  |  | + *
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				|  |  | + * Unless required by applicable law or agreed to in writing, software
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				|  |  | + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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				|  |  | + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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				|  |  | + * License for the specific language governing permissions and limitations under
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				|  |  | + * the License.
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				|  |  | + */
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				|  |  | +
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				|  |  | +package org.ros.android.android_tutorial_map_viewer;
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				|  |  | +
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				|  |  | +import android.os.Bundle;
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				|  |  | +import android.view.Window;
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				|  |  | +import android.view.WindowManager;
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				|  |  | +import org.ros.address.InetAddressFactory;
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				|  |  | +import org.ros.android.RosActivity;
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				|  |  | +import org.ros.android.view.visualization.VisualizationView;
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				|  |  | +import org.ros.android.view.visualization.layer.CameraControlLayer;
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				|  |  | +import org.ros.android.view.visualization.layer.OccupancyGridLayer;
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				|  |  | +import org.ros.android.view.visualization.layer.RobotLayer;
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				|  |  | +import org.ros.node.NodeConfiguration;
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				|  |  | +import org.ros.node.NodeMainExecutor;
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				|  |  | +
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				|  |  | +public class MainActivity extends RosActivity {
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				|  |  | +
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				|  |  | +  private VisualizationView visualizationView;
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				|  |  | +
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				|  |  | +  public MainActivity() {
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				|  |  | +    super("Map Viewer", "Map Viewer");
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				|  |  | +  }
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				|  |  | +
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				|  |  | +  @Override
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				|  |  | +  public void onCreate(Bundle savedInstanceState) {
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				|  |  | +    super.onCreate(savedInstanceState);
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				|  |  | +    requestWindowFeature(Window.FEATURE_NO_TITLE);
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				|  |  | +    getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN,
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				|  |  | +        WindowManager.LayoutParams.FLAG_FULLSCREEN);
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				|  |  | +    setContentView(R.layout.main);
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				|  |  | +    visualizationView = (VisualizationView) findViewById(R.id.visualization);
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				|  |  | +    visualizationView.addLayer(new CameraControlLayer(this));
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				|  |  | +    visualizationView.addLayer(new OccupancyGridLayer("map"));
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				|  |  | +    visualizationView.addLayer(new RobotLayer("laser_link", this));
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				|  |  | +  }
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				|  |  | +
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				|  |  | +  @Override
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				|  |  | +  protected void init(NodeMainExecutor nodeMainExecutor) {
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				|  |  | +    NodeConfiguration nodeConfiguration =
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				|  |  | +        NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress(),
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				|  |  | +            getMasterUri());
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				|  |  | +    nodeMainExecutor.execute(visualizationView, nodeConfiguration.setNodeName("map_viewer"));
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				|  |  | +  }
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				|  |  | +}
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