org.robokind.api.motion.blending.DefaultBlender 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 java.util.logging.Logger;
import org.robokind.api.motion.protocol.JointPositionMap;

/**
 * Basic implementation of a Blender.
 * 
 * @param  MotionFrame type used by this DefaultBlender
 * @param  FrameSource type used by this DefaultBlender
 * @param  PositionMap type used by this DefaultBlender
 * 
 * @author Matthew Stevenson 
 */
public class DefaultBlender<
        MF extends MotionFrame,
        FS extends FrameSource,
        PosMap extends JointPositionMap> implements Blender{
    private final static Logger theLogger = Logger.getLogger(DefaultBlender.class.getName());
    private FrameCombiner myFrameCombiner;
    private BlenderOutput myOutput;

    @Override
    public void setFrameCombiner(FrameCombiner combiner) {
        myFrameCombiner = combiner;
    }

    @Override
    public FrameCombiner getFrameCombiner() {
        return myFrameCombiner;
    }

    @Override
    public void setOutput(BlenderOutput out) {
        myOutput = out;
    }

    @Override
    public void blend(long time, long interval, Map frames) {
        if(frames == null || frames.isEmpty() || myFrameCombiner == null || 
                myOutput == null){
            return;
        }
        PosMap curPos = myOutput.getPositions();
        if(curPos == null || curPos.isEmpty()){
            return;
        }
        PosMap pos = myFrameCombiner.combineFrames(time, interval, curPos, frames);
        myOutput.write(pos, interval);
    }
}