org.robokind.api.motion.blending.BlenderOutput 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.JointPositionMap;

/**
 * Defines the output of a blender.
 * @param  PositionMap type used by this BlenderOutput
 * 
 * @author Matthew Stevenson 
 */
public interface BlenderOutput {
    /**
     * Writes a map of output positions.
     * @param positions output positions
     * @param lenMillisec duration of the output movement in milliseconds
     */
    public void write(PosMap positions, long lenMillisec);
    /**
     * Get the last output positions.
     * @return last output positions
     */
    public PosMap getPositions();
}