Package org.robokind.api.motion.blending

Interface Summary

Interface	Description
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.
BlenderOutput<PosMap extends JointPositionMap>	Defines the output of a blender.
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.
FrameSource<PosMap extends JointPositionMap>	A FrameSource provided desired movements to a robot.
FrameSourceTracker<F extends FrameSource>	Provides a List of FrameSources being tracked.

Class Summary

Class	Description
DefaultBlender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>	Basic implementation of a Blender.
NaiveMotionFrameAverager<Id,PosMap extends JointPositionMap<Id,NormalizedDouble>>	Naively combines MotionFrames by averaging the goal positions.
OSGiFrameSourceTracker	FrameSourceTracker for tracking FrameSources registered to the OSGi registry.
RobotOutput	A BlenderOutput implementation which sends Blender movements to a List of Robots.
TimedBlenderDriver	A TimedBlenderDriver runs in a TimerLoop and regularly pulls Frames from the FrameSources in its FrameSourceTracker, and sends them to its Blender.
VelocityCombiner<Id,PosMap extends JointPositionMap<Id,NormalizedDouble>>	Blends Frames by combining the velocities contributed from each MotionFrame.