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You have to make a custom class that overrides the onMeasure() of SlidingDrawer, like this:

<pre class="default prettyprint" style="background-color: #eeeeee; border: 0px; font-family: Consolas, Menlo, Monaco, 'Lucida Console', 'Liberation Mono', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', 'Courier New', monospace, serif; font-size: 14px; line-height: 18px; margin-bottom: 10px; max-height: 600px; overflow: auto; padding: 5px; text-align: left; vertical-align: baseline; width: auto;">import android.content.Context;
import android.util.AttributeSet;
import android.view.View;
import android.widget.SlidingDrawer;

public class WrappingSlidingDrawer extends SlidingDrawer {

    public WrappingSlidingDrawer(Context context, AttributeSet attrs, int defStyle) {
        super(context, attrs, defStyle);

        int orientation = attrs.getAttributeIntValue("android", "orientation", ORIENTATION_VERTICAL);
        mTopOffset = attrs.getAttributeIntValue("android", "topOffset", 0);
        mVertical = (orientation == SlidingDrawer.ORIENTATION_VERTICAL);
    }

    public WrappingSlidingDrawer(Context context, AttributeSet attrs) {
        super(context, attrs);

        int orientation = attrs.getAttributeIntValue("android", "orientation", ORIENTATION_VERTICAL);
        mTopOffset = attrs.getAttributeIntValue("android", "topOffset", 0);
        mVertical = (orientation == SlidingDrawer.ORIENTATION_VERTICAL);
    }

    @Override
    protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {

        int widthSpecMode = MeasureSpec.getMode(widthMeasureSpec);
        int widthSpecSize =  MeasureSpec.getSize(widthMeasureSpec);

        int heightSpecMode = MeasureSpec.getMode(heightMeasureSpec);
        int heightSpecSize =  MeasureSpec.getSize(heightMeasureSpec);

        if (widthSpecMode == MeasureSpec.UNSPECIFIED || heightSpecMode == MeasureSpec.UNSPECIFIED) {
            throw new RuntimeException("SlidingDrawer cannot have UNSPECIFIED dimensions");
        }

        final View handle = getHandle();
        final View content = getContent();
        measureChild(handle, widthMeasureSpec, heightMeasureSpec);

        if (mVertical) {
            int height = heightSpecSize - handle.getMeasuredHeight() - mTopOffset;
            content.measure(widthMeasureSpec, MeasureSpec.makeMeasureSpec(height, heightSpecMode));
            heightSpecSize = handle.getMeasuredHeight() + mTopOffset + content.getMeasuredHeight();
            widthSpecSize = content.getMeasuredWidth();
            if (handle.getMeasuredWidth() > widthSpecSize) widthSpecSize = handle.getMeasuredWidth();
        }
        else {
            int width = widthSpecSize - handle.getMeasuredWidth() - mTopOffset;
            getContent().measure(MeasureSpec.makeMeasureSpec(width, widthSpecMode), heightMeasureSpec);
            widthSpecSize = handle.getMeasuredWidth() + mTopOffset + content.getMeasuredWidth();
            heightSpecSize = content.getMeasuredHeight();
            if (handle.getMeasuredHeight() > heightSpecSize) heightSpecSize = handle.getMeasuredHeight();
        }

        setMeasuredDimension(widthSpecSize, heightSpecSize);
    }

    private boolean mVertical;
    private int mTopOffset;
}</pre>And in xml:
<div>
</div><div><pre class="default prettyprint" style="background-color: #eeeeee; border: 0px; font-family: Consolas, Menlo, Monaco, 'Lucida Console', 'Liberation Mono', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', 'Courier New', monospace, serif; font-size: 14px; line-height: 18px; margin-bottom: 10px; max-height: 600px; overflow: auto; padding: 5px; text-align: left; vertical-align: baseline; width: auto;"><FrameLayout android:layout_width="fill_parent"
             android:layout_height="fill_parent">
    ... stuff you want to cover at full-size ...
   
        <com.package.WrappingSlidingDrawer android:layout_width="fill_parent"
                           android:layout_height="wrap_content"
                           android:content="@+id/content"
                           android:handle="@+id/handle"</pre><pre class="default prettyprint" style="background-color: #eeeeee; border: 0px; font-family: Consolas, Menlo, Monaco, 'Lucida Console', 'Liberation Mono', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', 'Courier New', monospace, serif; font-size: 14px; line-height: 18px; margin-bottom: 10px; max-height: 600px; overflow: auto; padding: 5px; text-align: left; vertical-align: baseline; width: auto;"> android:gravity="bottom">
            ... handle and content views ...
        </com.package.WrappingSlidingDrawer>
   
</FrameLayout></pre>Source</div>