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java.lang.Objectorg.robokind.api.motion.blending.DefaultBlender<MF,FS,PosMap>
MF
- MotionFrame type used by this DefaultBlenderFS
- FrameSource type used by this DefaultBlenderPosMap
- PositionMap type used by this DefaultBlenderpublic class DefaultBlender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
Basic implementation of a Blender.
Field Summary |
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Fields inherited from interface org.robokind.api.motion.blending.Blender |
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PROP_POSITION_MAP_TYPE |
Constructor Summary | |
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DefaultBlender()
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Method Summary | |
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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. |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public DefaultBlender()
Method Detail |
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public void setFrameCombiner(FrameCombiner<MF,FS,PosMap> combiner)
Blender
setFrameCombiner
in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
combiner
- FrameCombiner to setpublic FrameCombiner<MF,FS,PosMap> getFrameCombiner()
Blender
getFrameCombiner
in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
public void setOutput(BlenderOutput<PosMap> out)
Blender
setOutput
in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
out
- BlenderOutput to setpublic void blend(long time, long interval, Map<? extends MF,? extends FS> frames)
Blender
blend
in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
time
- time of the move requestinterval
- time since the previous move requestframes
- map of Frames and their FrameSources
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