org.robokind.api.motion.blending
Class NaiveMotionFrameAverager<Id,PosMap extends JointPositionMap<Id,NormalizedDouble>>

java.lang.Object
  org.robokind.api.motion.blending.NaiveMotionFrameAverager<Id,PosMap>

All Implemented Interfaces:

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

public class NaiveMotionFrameAverager<Id,PosMap extends JointPositionMap<Id,NormalizedDouble>>
extends Object
implements FrameCombiner<MotionFrame<PosMap>,FrameSource<PosMap>,PosMap>

Author:

Matthew Stevenson

Constructor Summary

NaiveMotionFrameAverager(Factory<PosMap> posMapFact)

Method Summary

PosMap

combineFrames(long time, long interval, PosMap curPos, Map<? extends MotionFrame<PosMap>,? extends FrameSource<PosMap>> frames) Returns a JointPositionMap, averaging the goal positions from the given MotionFrames.

Methods inherited from class java.lang.Object

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

Constructor Detail

NaiveMotionFrameAverager

public NaiveMotionFrameAverager(Factory<PosMap> posMapFact)

Method Detail

combineFrames

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

Returns a JointPositionMap, averaging the goal positions from the given MotionFrames.

Specified by:

combineFrames in interface FrameCombiner<MotionFrame<PosMap extends JointPositionMap<Id,NormalizedDouble>>,FrameSource<PosMap extends JointPositionMap<Id,NormalizedDouble>>,PosMap extends JointPositionMap<Id,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:

JointPositionMap, averaging the goal positions from the given MotionFrames