| Package | Description |
|---|---|
| org.robokind.api.motion.blending | |
| org.robokind.api.motion.messaging | |
| org.robokind.api.motion.protocol | |
| org.robokind.api.motion.utils |
| Modifier and Type | Interface and Description |
|---|---|
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.
|
class |
DefaultBlender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
Basic implementation of a Blender.
|
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.
|
| Modifier and Type | Method and Description |
|---|---|
MotionFrame<PosMap> |
FrameSource.getMovements(long currentTimeUTC,
long moveLengthMilliSec)
Returns the desired Robot movement starting at the given time and lasting
for the given number of milliseconds.
|
| Modifier and Type | Method and Description |
|---|---|
PosMap |
NaiveMotionFrameAverager.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.
|
PosMap |
VelocityCombiner.combineFrames(long time,
long interval,
PosMap curPos,
Map<? extends MotionFrame<PosMap>,? extends FrameSource<PosMap>> frames) |
| Modifier and Type | Method and Description |
|---|---|
void |
MotionFrameSender.sendMotionFrame(MotionFrame frame)
Creates MotionFrameEvent from the given MotionFrame and sends it.
|
void |
RemoteRobotClient.sendMovement(MotionFrame frame)
Sends a MotionFrame to move a RemoteRobot.
|
| Modifier and Type | Class and Description |
|---|---|
class |
DefaultMotionFrame<PosMap extends JointPositionMap>
A DefaultMotionFrame describes the start and goal PositionSets for a set of \
Joints over an interval of time.
|
| Modifier and Type | Method and Description |
|---|---|
MotionFrame<Robot.RobotPositionMap> |
MotionFrameEvent.getMotionFrame()
Returns the MotionFrame associated with this MotionFrameEvent.
|
| Modifier and Type | Method and Description |
|---|---|
MotionFrameEvent |
MotionFrameEvent.MotionFrameEventFactory.createMotionFrameEvent(String sourceId,
String destId,
MotionFrame<Robot.RobotPositionMap> motionFrame) |
| Modifier and Type | Method and Description |
|---|---|
MotionFrame |
PositionTargetFrameSource.getMovements(long time,
long interval)
Creates a MotionFrame starting at the Robot's goal positions, and moving
towards the target positions as much as the velocity will allow in the
given time interval.
|
MotionFrame |
RobotMoverFrameSource.getMovements(long currentTimeUTC,
long moveLengthMilliSec) |
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