org.robokind.api.motion.blending
Interface FrameSource<PosMap extends JointPositionMap>
- Type Parameters:
PosMap
- Type of JointPositionMap returned by this FrameSource
- All Known Subinterfaces:
- RobotFrameSource
- All Known Implementing Classes:
- PositionTargetFrameSource, RobotMoveHandler, RobotMoverFrameSource
public interface FrameSource<PosMap extends JointPositionMap>
A FrameSource provided desired movements to a robot.
Typically a FrameSource will be called at a regular interval
(~40 milliseconds) for the next moves to make.
- Author:
- Matthew Stevenson
Method Summary |
MotionFrame<PosMap> |
getMovements(long currentTimeUTC,
long moveLengthMilliSec)
Returns the desired Robot movement starting at the given time and lasting
for the given number of milliseconds. |
getMovements
MotionFrame<PosMap> getMovements(long currentTimeUTC,
long moveLengthMilliSec)
- Returns the desired Robot movement starting at the given time and lasting
for the given number of milliseconds.
The frequency and regularity of calls will depend on the Blender
configuration used. The DefaultBlender runs in a continuous loop calling
FrameSources at 40 millisecond intervals.
- Parameters:
currentTimeUTC
- time of the move requestmoveLengthMilliSec
- expected length of the movement returned, the
actual returned length does not have to be same, but the actual movement
results will depend on the Blender used
- Returns:
- MotionFrame desired robot movement
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