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java.lang.Objectorg.robokind.api.animation.Channel
public class Channel
Holds a list of MotionPaths, and can build a composite CompiledPath.
Constructor Summary | |
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Channel(int id,
String name)
Create an empty Channel for given ServoParameters. |
Method Summary | |
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void |
addPath(int i,
MotionPath p)
Adds a MotionPath to the list at the given index. |
void |
addPath(MotionPath p)
Adds a MotionPath to the list. |
void |
addPaths(List<MotionPath> paths)
Adds a List of MotionPaths to the Channel. |
Channel |
clone()
Returns a deep copy of the Channel. |
CompiledPath |
compilePath(long start,
long end,
long stepLength)
Creates a composite CompiledPath from all MotionPaths for given times. |
CompiledPath |
getCompiledPath(long stepLength)
Creates a composite CompiledPath from all MotionPaths. |
Integer |
getId()
Returns the id of this Channel's Joint. |
List<Point2D> |
getInterpolatedPoints(long start,
long end)
Combines the interpolations from each motion path, omitting overlaps. |
MotionPath |
getMotionPath(int i)
Returns the MotionPath for the given index. |
List<MotionPath> |
getMotionPaths()
Returns the list of MotionPaths belonging to this Channel. |
String |
getName()
Returns the name of this Channel's Joint. |
Long |
getStartTime()
Returns the start time |
Long |
getStopTime()
Returns the stop time |
MotionPath |
removeMotionPath(int i)
Removes the MotionPath at the given index. |
int |
removeMotionPath(MotionPath mp)
Removes the given MotionPath. |
void |
setId(int id)
Sets the Channel's Id. |
void |
setName(String name)
Sets the Channel's Name. |
void |
setStartTime(Long time)
Sets the start time |
void |
setStopTime(Long time)
Sets the stop time |
Methods inherited from class java.lang.Object |
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equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public Channel(int id, String name)
id
- id for Channelname
- name for ChannelMethod Detail |
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public void setId(int id)
id
- the new Channel idpublic Integer getId()
public void setName(String name)
name
- the new Channel namepublic String getName()
public void setStartTime(Long time)
time
- start timepublic Long getStartTime()
public void setStopTime(Long time)
time
- stop timepublic Long getStopTime()
public void addPaths(List<MotionPath> paths)
paths
- MotionPaths to add
NullPointerException
- if paths are nullpublic void addPath(MotionPath p)
p
- MotionPath to add
NullPointerException
- if p is nullpublic void addPath(int i, MotionPath p)
i
- the index to add atp
- MotionPath to add
NullPointerException
- if p is nullpublic List<MotionPath> getMotionPaths()
public MotionPath getMotionPath(int i)
i
- index for the MotionPath to retrieve
public MotionPath removeMotionPath(int i)
i
- index for MotionPath to remove
public int removeMotionPath(MotionPath mp)
mp
- the MotionPath to remove
public CompiledPath getCompiledPath(long stepLength)
stepLength
- milliseconds between path positions
public CompiledPath compilePath(long start, long end, long stepLength)
start
- path start timeend
- path end timestepLength
- milliseconds between positions
public List<Point2D> getInterpolatedPoints(long start, long end)
start
- path start timeend
- path end time
public Channel clone()
clone
in class Object
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