org.mechio.api.motion.blending

Class NaiveMotionFrameAverager<Id,PosMap extends JointPositionMap<Id,org.jflux.api.common.rk.position.NormalizedDouble>>

java.lang.Object

org.mechio.api.motion.blending.NaiveMotionFrameAverager<Id,PosMap>

Type Parameters:

Id - type of id used in the PositionMaps being combined

PosMap - type of PositionMaps being combined

All Implemented Interfaces:

FrameCombiner<MotionFrame<PosMap>,FrameSource<PosMap>,PosMap>

public class NaiveMotionFrameAverager<Id,PosMap extends JointPositionMap<Id,org.jflux.api.common.rk.position.NormalizedDouble>>
extends Object
implements FrameCombiner<MotionFrame<PosMap>,FrameSource<PosMap>,PosMap>

Naively combines MotionFrames by averaging the goal positions. Ignores MotionFrame start positions and timing.

Author:

Matthew Stevenson

Constructor Summary

Constructors

Constructor and Description
NaiveMotionFrameAverager(org.jflux.api.core.Source<PosMap> posMapFact) Creates a new NaiveMotionFrameAverager/

Method Summary

Methods

Modifier and Type	Method and Description
PosMap	combineFrames(long time, long interval, PosMap curPos, Map<? extends MotionFrame<PosMap>,? extends FrameSource<PosMap>> frames) Averages the goal positions from the MotionFrames into a single PositionMap.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

NaiveMotionFrameAverager

public NaiveMotionFrameAverager(org.jflux.api.core.Source<PosMap> posMapFact)

Creates a new NaiveMotionFrameAverager/

Parameters:

posMapFact - factory for creating new PositionMaps

Method Detail

combineFrames

public PosMap combineFrames(long time,
                   long interval,
                   PosMap curPos,
                   Map<? extends MotionFrame<PosMap>,? extends FrameSource<PosMap>> frames)

Averages the goal positions from the MotionFrames into a single PositionMap. The MotionFrames' start positions, timing, and FrameSources are ignored.

Specified by:

combineFrames in interface FrameCombiner<MotionFrame<PosMap extends JointPositionMap<Id,org.jflux.api.common.rk.position.NormalizedDouble>>,FrameSource<PosMap extends JointPositionMap<Id,org.jflux.api.common.rk.position.NormalizedDouble>>,PosMap extends JointPositionMap<Id,org.jflux.api.common.rk.position.NormalizedDouble>>

Parameters:

time - time of the move request

interval - time since last move request

curPos - set of current Joint positions

frames - map of Frames and their originating FrameSources

Returns:

PositionMap with averaged goal positions from the MotionFrames