org.robokind.api.motion.blending
Class VelocityCombiner<Id,PosMap extends JointPositionMap<Id,org.robokind.api.common.position.NormalizedDouble>>

java.lang.Object
  extended by org.robokind.api.motion.blending.VelocityCombiner<Id,PosMap>
All Implemented Interfaces:
FrameCombiner<MotionFrame<PosMap>,FrameSource<PosMap>,PosMap>

public class VelocityCombiner<Id,PosMap extends JointPositionMap<Id,org.robokind.api.common.position.NormalizedDouble>>
extends Object
implements FrameCombiner<MotionFrame<PosMap>,FrameSource<PosMap>,PosMap>

Blends Frames by combining the velocities contributed from each MotionFrame.

Author:
Matthew Stevenson

Constructor Summary
VelocityCombiner(org.robokind.api.common.utils.Factory<PosMap> posMapFact)
           
 
Method Summary
 PosMap combineFrames(long time, long interval, PosMap curPos, Map<? extends MotionFrame<PosMap>,? extends FrameSource<PosMap>> frames)
          Combines Frames from FrameSources into a map of Joint positions.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

VelocityCombiner

public VelocityCombiner(org.robokind.api.common.utils.Factory<PosMap> posMapFact)
Method Detail

combineFrames

public PosMap combineFrames(long time,
                            long interval,
                            PosMap curPos,
                            Map<? extends MotionFrame<PosMap>,? extends FrameSource<PosMap>> frames)
Description copied from interface: FrameCombiner
Combines Frames from FrameSources into a map of Joint positions.

Specified by:
combineFrames in interface FrameCombiner<MotionFrame<PosMap extends JointPositionMap<Id,org.robokind.api.common.position.NormalizedDouble>>,FrameSource<PosMap extends JointPositionMap<Id,org.robokind.api.common.position.NormalizedDouble>>,PosMap extends JointPositionMap<Id,org.robokind.api.common.position.NormalizedDouble>>
Parameters:
time - time of the move request
interval - time since last move request
curPos - set of current Joint positions
frames - map of Frames and their originating FrameSources
Returns:
a map of Joint positions


Copyright © 2011. All Rights Reserved.