4bad650d63b30037922aebe8feff176beee300c1,android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/PosePublisherLayer.java,PosePublisherLayer,onTouchEvent,#VisualizationView#MotionEvent#,76

Before Change


    if (visible) {
      Preconditions.checkNotNull(pose);
      if (event.getAction() == MotionEvent.ACTION_MOVE) {
        pose.setRotation(Quaternion.rotationBetweenVectors(
            new Vector3(1, 0, 0),
            camera.toWorldCoordinates(new Point((int) event.getX(), (int) event.getY()))
            .subtract(pose.getTranslation())));
        shape.setTransform(pose);
        requestRender();
        return true;

After Change


        Vector3 orientationVector =
            camera.toWorldCoordinates(new Point((int) event.getX(), (int) event.getY())).subtract(
                pose.getTranslation());
        if (orientationVector.length() > 0) {
          pose.setRotation(Quaternion.rotationBetweenVectors(new Vector3(1, 0, 0),
              orientationVector));
        } else {
          pose.setRotation(Quaternion.newIdentityQuaternion());
        }