org.robokind.api.motion.blending
Class VelocityCombiner<Id,PosMap extends JointPositionMap<Id,org.robokind.api.common.position.NormalizedDouble>>
java.lang.Object
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
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
VelocityCombiner
public VelocityCombiner(org.robokind.api.common.utils.Factory<PosMap> posMapFact)
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 requestinterval
- time since last move requestcurPos
- set of current Joint positionsframes
- map of Frames and their originating FrameSources
- Returns:
- a map of Joint positions
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