org.robokind.api.motion.blending
Interface FrameCombiner<F extends MotionFrame<PosMap>,B extends FrameSource<PosMap>,PosMap extends JointPositionMap>
- Type Parameters:
F
- MotionFrame typeB
- FrameSource typePosMap
- 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. |
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 requestinterval
- time since last move requestcurPos
- set of current Joint positionsframes
- map of Frames and their originating FrameSources
- Returns:
- a map of Joint positions
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