org.robokind.api.motion.blending

Interface FrameSource<PosMap extends JointPositionMap>

Type Parameters:

PosMap - Type of JointPositionMap returned by this FrameSource

All Known Subinterfaces:

RobotFrameSource

All Known Implementing Classes:

PositionTargetFrameSource, RobotMoveHandler, RobotMoverFrameSource

public interface FrameSource<PosMap extends JointPositionMap>

A FrameSource provided desired movements to a robot. Typically a FrameSource will be called at a regular interval (~40 milliseconds) for the next moves to make.

Author:

Matthew Stevenson

Method Summary

Methods

Modifier and Type	Method and Description
MotionFrame<PosMap>	getMovements(long currentTimeUTC, long moveLengthMilliSec) Returns the desired Robot movement starting at the given time and lasting for the given number of milliseconds.

Method Detail

getMovements

MotionFrame<PosMap> getMovements(long currentTimeUTC,
                               long moveLengthMilliSec)

Returns the desired Robot movement starting at the given time and lasting for the given number of milliseconds. The frequency and regularity of calls will depend on the Blender configuration used. The DefaultBlender runs in a continuous loop calling FrameSources at 40 millisecond intervals.

Parameters:

currentTimeUTC - time of the move request

moveLengthMilliSec - expected length of the movement returned, the actual returned length does not have to be same, but the actual movement results will depend on the Blender used

Returns:

MotionFrame desired robot movement