org.robokind.api.motion.blending
Interface FrameCombiner<F extends MotionFrame<PosMap>,B extends FrameSource<PosMap>,PosMap extends JointPositionMap>

Type Parameters:

F - MotionFrame type

B - FrameSource type

PosMap - PositionMap type

All Known Implementing Classes:

NaiveMotionFrameAverager, VelocityCombiner

public interface FrameCombiner<F extends MotionFrame<PosMap>,B extends FrameSource<PosMap>,PosMap extends JointPositionMap>

A FrameCombiner combines movement requests from multiple FrameSources into a single set of Joint movements.

Author:

Matthew Stevenson

Method Summary

PosMap

combineFrames(long time, long interval, PosMap curPos, Map<? extends F,? extends B> frames) Combines Frames from FrameSources into a map of Joint positions.

Method Detail

combineFrames

PosMap combineFrames(long time,
                     long interval,
                     PosMap curPos,
                     Map<? extends F,? extends B> frames)

Combines Frames from FrameSources into a map of Joint positions.

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:

a map of Joint positions