Package org.robokind.api.motion.blending

Interface Summary
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.
BlenderOutput<PosMap extends JointPositionMap> Defines the output of a blender.
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.
FrameSource<PosMap extends JointPositionMap> A FrameSource provided desired movements to a robot.
FrameSourceTracker<F extends FrameSource> Provides a List of FrameSources being tracked.
 

Class Summary
DefaultBlender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap> Basic implementation of a Blender.
NaiveMotionFrameAverager<Id,PosMap extends JointPositionMap<Id,org.robokind.api.common.position.NormalizedDouble>> Naively combines MotionFrames by averaging the goal positions.
OSGiFrameSourceTracker FrameSourceTracker for tracking FrameSources registered to the OSGi registry.
RobotOutput A BlenderOutput implementation which sends Blender movements to a List of Robots.
TimedBlenderDriver A TimedBlenderDriver runs in a TimerLoop and regularly pulls Frames from the FrameSources in its FrameSourceTracker, and sends them to its Blender.
VelocityCombiner<Id,PosMap extends JointPositionMap<Id,org.robokind.api.common.position.NormalizedDouble>> Blends Frames by combining the velocities contributed from each MotionFrame.
 



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