Id - type of id used in the PositionMaps being combinedPosMap - type of PositionMaps being combinedpublic class NaiveMotionFrameAverager<Id,PosMap extends JointPositionMap<Id,NormalizedDouble>> extends Object implements FrameCombiner<MotionFrame<PosMap>,FrameSource<PosMap>,PosMap>
| Constructor and Description |
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NaiveMotionFrameAverager(org.jflux.api.core.Source<PosMap> posMapFact)
Creates a new NaiveMotionFrameAverager/
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| Modifier and Type | Method and Description |
|---|---|
PosMap |
combineFrames(long time,
long interval,
PosMap curPos,
Map<? extends MotionFrame<PosMap>,? extends FrameSource<PosMap>> frames)
Averages the goal positions from the MotionFrames into a single
PositionMap.
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public NaiveMotionFrameAverager(org.jflux.api.core.Source<PosMap> posMapFact)
posMapFact - factory for creating new PositionMapspublic PosMap combineFrames(long time, long interval, PosMap curPos, Map<? extends MotionFrame<PosMap>,? extends FrameSource<PosMap>> frames)
combineFrames in interface FrameCombiner<MotionFrame<PosMap extends JointPositionMap<Id,NormalizedDouble>>,FrameSource<PosMap extends JointPositionMap<Id,NormalizedDouble>>,PosMap extends JointPositionMap<Id,NormalizedDouble>>time - time of the move requestinterval - time since last move requestcurPos - set of current Joint positionsframes - map of Frames and their originating FrameSourcesCopyright © 2011-2014. All Rights Reserved.