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java.lang.Objectorg.robokind.api.motion.protocol.DefaultMotionFrame<PosMap>
PosMap
- Type of JointPositionMap usedpublic class DefaultMotionFrame<PosMap extends JointPositionMap>
A DefaultMotionFrame describes the start and goal PositionSets for a set of \ Joints over an interval of time.
Constructor Summary | |
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DefaultMotionFrame()
Creates an empty MotionFrame. |
Method Summary | |
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long |
getFrameLengthMillisec()
Returns the interval for the movements. |
PosMap |
getGoalPositions()
Returns the MotionFrame's goal JointPositionMap. |
PosMap |
getPreviousPositions()
Returns the MotionFrame's previous JointPositionMap. |
long |
getTimestampMillisecUTC()
Returns MotionFrame creation time. |
void |
setFrameLengthMillisec(long interval)
Sets the time interval length for the MotionFrame. |
void |
setGoalPositions(PosMap pos)
Sets the MotionFrame's goal JointPositionMap. |
void |
setPreviousPositions(PosMap pos)
Set the MotionFrame's previous JointPositionMap. |
void |
setTimestampMillisecUTC(long time)
Sets the MotionFrame creation time. |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public DefaultMotionFrame()
Method Detail |
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public void setTimestampMillisecUTC(long time)
setTimestampMillisecUTC
in interface MotionFrame<PosMap extends JointPositionMap>
time
- create timepublic long getTimestampMillisecUTC()
getTimestampMillisecUTC
in interface MotionFrame<PosMap extends JointPositionMap>
public void setFrameLengthMillisec(long interval)
setFrameLengthMillisec
in interface MotionFrame<PosMap extends JointPositionMap>
interval
- length of time for the frame in millisecondspublic long getFrameLengthMillisec()
getFrameLengthMillisec
in interface MotionFrame<PosMap extends JointPositionMap>
public void setGoalPositions(PosMap pos)
setGoalPositions
in interface MotionFrame<PosMap extends JointPositionMap>
pos
- goal JointPositionMappublic PosMap getGoalPositions()
getGoalPositions
in interface MotionFrame<PosMap extends JointPositionMap>
public void setPreviousPositions(PosMap pos)
setPreviousPositions
in interface MotionFrame<PosMap extends JointPositionMap>
pos
- previous JointPositionMappublic PosMap getPreviousPositions()
getPreviousPositions
in interface MotionFrame<PosMap extends JointPositionMap>
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