org.mechio.api.motion.protocol

Interface MotionFrame<PosMap extends JointPositionMap>

Type Parameters:

PosMap - Type of JointPositionMap used

All Known Implementing Classes:

DefaultMotionFrame

public interface MotionFrame<PosMap extends JointPositionMap>

A MotionFrame describes the start and goal PositionSets for a set of Joints \ over an interval of time.

Author:

Matthew Stevenson

Method Summary

Methods

Modifier and Type	Method and Description
long	getFrameLengthMillisec() Returns the interval for the movements.
PosMap	getGoalPositions() Returns the MotionFrame's goal JointPositionMap.
PosMap	getPreviousPositions() Returns the MotionFrame's previous JointPositionMap.
long	getTimestampMillisecUTC() Returns MotionFrame creation time.
void	setFrameLengthMillisec(long interval) Sets the time interval length for the MotionFrame.
void	setGoalPositions(PosMap pos) Sets the MotionFrame's goal JointPositionMap.
void	setPreviousPositions(PosMap pos) Set the MotionFrame's previous JointPositionMap.
void	setTimestampMillisecUTC(long time) Sets the MotionFrame creation time.

Method Detail

setTimestampMillisecUTC

void setTimestampMillisecUTC(long time)

Sets the MotionFrame creation time.

Parameters:

time - create time

getTimestampMillisecUTC

long getTimestampMillisecUTC()

Returns MotionFrame creation time.

Returns:

MotionFrame creation time

setFrameLengthMillisec

void setFrameLengthMillisec(long interval)

Sets the time interval length for the MotionFrame. The velocity is calculated as the difference of position divided by the interval length.

Parameters:

interval - length of time for the frame in milliseconds

getFrameLengthMillisec

long getFrameLengthMillisec()

Returns the interval for the movements.

Returns:

interval time interval for the movements

setGoalPositions

void setGoalPositions(PosMap pos)

Sets the MotionFrame's goal JointPositionMap.

Parameters:

pos - goal JointPositionMap

getGoalPositions

PosMap getGoalPositions()

Returns the MotionFrame's goal JointPositionMap.

Returns:

MotionFrame's goal JointPositionMap

setPreviousPositions

void setPreviousPositions(PosMap pos)

Set the MotionFrame's previous JointPositionMap.

Parameters:

pos - previous JointPositionMap

getPreviousPositions

PosMap getPreviousPositions()

Returns the MotionFrame's previous JointPositionMap.

Returns:

MotionFrame's previous JointPositionMap