org.robokind.api.motion.blending
Class DefaultBlender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>

java.lang.Object
  org.robokind.api.motion.blending.DefaultBlender<MF,FS,PosMap>

Type Parameters:

MF - MotionFrame type used by this DefaultBlender

FS - FrameSource type used by this DefaultBlender

PosMap - PositionMap type used by this DefaultBlender

All Implemented Interfaces:

Blender<MF,FS,PosMap>

public class DefaultBlender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
extends Object
implements Blender<MF,FS,PosMap>

Basic implementation of a Blender.

Author:

Matthew Stevenson

Constructor Summary

DefaultBlender()

Method Summary

void	blend(long time, long interval, Map<? extends MF,? extends FS> frames) Uses the FrameCombiner to blend the given Frames, and sends the results to the BlenderOutput.
FrameCombiner<MF,FS,PosMap>	getFrameCombiner() Returns the Blender's FrameCombiner.
void	setFrameCombiner(FrameCombiner<MF,FS,PosMap> combiner) Sets the Blender's FrameCombiner.
void	setOutput(BlenderOutput<PosMap> out) Sets the Blender's BlenderOutput.

Methods inherited from class java.lang.Object

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

Constructor Detail

DefaultBlender

public DefaultBlender()

Method Detail

setFrameCombiner

public void setFrameCombiner(FrameCombiner<MF,FS,PosMap> combiner)

Description copied from interface: Blender

Sets the Blender's FrameCombiner.

Specified by:

setFrameCombiner in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>

Parameters:

combiner - FrameCombiner to set

getFrameCombiner

public FrameCombiner<MF,FS,PosMap> getFrameCombiner()

Description copied from interface: Blender

Returns the Blender's FrameCombiner.

Specified by:

getFrameCombiner in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>

Returns:

Blender's FrameCombiner

setOutput

public void setOutput(BlenderOutput<PosMap> out)

Description copied from interface: Blender

Sets the Blender's BlenderOutput.

Specified by:

setOutput in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>

Parameters:

out - BlenderOutput to set

blend

public void blend(long time,
                  long interval,
                  Map<? extends MF,? extends FS> frames)

Description copied from interface: Blender

Uses the FrameCombiner to blend the given Frames, and sends the results to the BlenderOutput.

Specified by:

blend in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>

Parameters:

time - time of the move request

interval - time since the previous move request

frames - map of Frames and their FrameSources