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

java.lang.Object
  extended by org.robokind.api.motion.blending.DefaultBlender<MF,FS,PosMap>
Type Parameters:
MF - MotionFrame type used by this DefaultBlender
FS - FrameSource type used by this DefaultBlender
PosMap - PositionMap type used by this DefaultBlender
All Implemented Interfaces:
Blender<MF,FS,PosMap>

public class DefaultBlender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
extends Object
implements Blender<MF,FS,PosMap>

Basic implementation of a Blender.

Author:
Matthew Stevenson

Constructor Summary
DefaultBlender()
           
 
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.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

DefaultBlender

public DefaultBlender()
Method Detail

setFrameCombiner

public void setFrameCombiner(FrameCombiner<MF,FS,PosMap> combiner)
Description copied from interface: Blender
Sets the Blender's FrameCombiner.

Specified by:
setFrameCombiner in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
Parameters:
combiner - FrameCombiner to set

getFrameCombiner

public FrameCombiner<MF,FS,PosMap> getFrameCombiner()
Description copied from interface: Blender
Returns the Blender's FrameCombiner.

Specified by:
getFrameCombiner in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
Returns:
Blender's FrameCombiner

setOutput

public void setOutput(BlenderOutput<PosMap> out)
Description copied from interface: Blender
Sets the Blender's BlenderOutput.

Specified by:
setOutput in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
Parameters:
out - BlenderOutput to set

blend

public void blend(long time,
                  long interval,
                  Map<? extends MF,? extends FS> frames)
Description copied from interface: Blender
Uses the FrameCombiner to blend the given Frames, and sends the results to the BlenderOutput.

Specified by:
blend in interface Blender<MF extends MotionFrame<PosMap>,FS extends FrameSource<PosMap>,PosMap extends JointPositionMap>
Parameters:
time - time of the move request
interval - time since the previous move request
frames - map of Frames and their FrameSources


Copyright © 2011. All Rights Reserved.