org.robokind.api.motion.blending
Interface FrameCombiner<F extends MotionFrame<PosMap>,B extends FrameSource<PosMap>,PosMap extends JointPositionMap>

Type Parameters:
F - MotionFrame type
B - FrameSource type
PosMap - PositionMap type
All Known Implementing Classes:
NaiveMotionFrameAverager, VelocityCombiner

public interface FrameCombiner<F extends MotionFrame<PosMap>,B extends FrameSource<PosMap>,PosMap extends JointPositionMap>

A FrameCombiner combines movement requests from multiple FrameSources into a single set of Joint movements.

Author:
Matthew Stevenson

Method Summary
 PosMap combineFrames(long time, long interval, PosMap curPos, Map<? extends F,? extends B> frames)
          Combines Frames from FrameSources into a map of Joint positions.
 

Method Detail

combineFrames

PosMap combineFrames(long time,
                     long interval,
                     PosMap curPos,
                     Map<? extends F,? extends B> frames)
Combines Frames from FrameSources into a map of Joint positions.

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


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