org.robokind.api.motion.blending
Interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>

Type Parameters:
MF - MotionFrame type used by this Blender
FS - FrameSource type used by this Blender
PosMap - PositionMap type used by this Blender
All Known Implementing Classes:
DefaultBlender

public 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.

Author:
Matthew Stevenson

Field Summary
static String PROP_POSITION_MAP_TYPE
          Used for specifying the type of position map used by this blender.
 
Method Summary
 void blend(long time, long interval, Map<? extends MF,? extends FS> frames)
          Uses the FrameCombiner to blend the given Frames, and sends the results to the BlenderOutput.
 FrameCombiner<MF,FS,PosMap> getFrameCombiner()
          Returns the Blender's FrameCombiner.
 void setFrameCombiner(FrameCombiner<MF,FS,PosMap> combiner)
          Sets the Blender's FrameCombiner.
 void setOutput(BlenderOutput<PosMap> out)
          Sets the Blender's BlenderOutput.
 

Field Detail

PROP_POSITION_MAP_TYPE

static final String PROP_POSITION_MAP_TYPE
Used for specifying the type of position map used by this blender.

See Also:
Constant Field Values
Method Detail

setFrameCombiner

void setFrameCombiner(FrameCombiner<MF,FS,PosMap> combiner)
Sets the Blender's FrameCombiner.

Parameters:
combiner - FrameCombiner to set

getFrameCombiner

FrameCombiner<MF,FS,PosMap> getFrameCombiner()
Returns the Blender's FrameCombiner.

Returns:
Blender's FrameCombiner

setOutput

void setOutput(BlenderOutput<PosMap> out)
Sets the Blender's BlenderOutput.

Parameters:
out - BlenderOutput to set

blend

void blend(long time,
           long interval,
           Map<? extends MF,? extends FS> frames)
Uses the FrameCombiner to blend the given Frames, and sends the results to the BlenderOutput.

Parameters:
time - time of the move request
interval - time since the previous move request
frames - map of Frames and their FrameSources


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