org.robokind.api.motion.blending.Blender Maven / Gradle / Ivy

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/*
 * Copyright 2011 Hanson Robokind LLC.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package org.robokind.api.motion.blending;

import org.robokind.api.motion.protocol.MotionFrame;
import java.util.Map;
import org.robokind.api.motion.protocol.JointPositionMap;

/**
 * Uses a FrameCombiner to blend move requests, and sends the results to a 
 * BlenderOutput.
 * 
 * @param  MotionFrame type used by this Blender
 * @param  FrameSource type used by this Blender
 * @param  PositionMap type used by this Blender
 * 
 * @author Matthew Stevenson 
 */
public interface Blender<
        MF extends MotionFrame,
        FS extends FrameSource,
        PosMap extends JointPositionMap> {
    /**
     * Used for specifying the type of position map used by this blender.
     */
    public final static String PROP_POSITION_MAP_TYPE = "positionMapType";
    /**
     * Sets the Blender's FrameCombiner.
     * @param combiner FrameCombiner to set
     */
    public void setFrameCombiner(FrameCombiner combiner);
    /**
     * Returns the Blender's FrameCombiner.
     * @return Blender's FrameCombiner
     */
    public FrameCombiner getFrameCombiner();

    /**
     * Sets the Blender's BlenderOutput.
     * @param out BlenderOutput to set
     */
    public void setOutput(BlenderOutput out);
    
    /**
     * Uses the FrameCombiner to blend the given Frames, and sends the results 
     * to the BlenderOutput.
     * @param time time of the move request
     * @param interval time since the previous move request
     * @param frames map of Frames and their FrameSources
     */
    public void blend(long time, long interval, 
            Map frames);
}