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

Type Parameters:

MF - MotionFrame type used by this Blender

FS - FrameSource type used by this Blender

PosMap - PositionMap type used by this Blender

All Known Implementing Classes:

DefaultBlender

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

Uses a FrameCombiner to blend move requests, and sends the results to a BlenderOutput.

Author:

Matthew Stevenson

Field Summary

static String

PROP_POSITION_MAP_TYPE Used for specifying the type of position map used by this blender.

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.

Field Detail

PROP_POSITION_MAP_TYPE

static final String PROP_POSITION_MAP_TYPE

Used for specifying the type of position map used by this blender.

See Also:

Constant Field Values

Method Detail

setFrameCombiner

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

Sets the Blender's FrameCombiner.

Parameters:

combiner - FrameCombiner to set

getFrameCombiner

FrameCombiner<MF,FS,PosMap> getFrameCombiner()

Returns the Blender's FrameCombiner.

Returns:

Blender's FrameCombiner

setOutput

void setOutput(BlenderOutput<PosMap> out)

Sets the Blender's BlenderOutput.

Parameters:

out - BlenderOutput to set

blend

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.

Parameters:

time - time of the move request

interval - time since the previous move request

frames - map of Frames and their FrameSources