org.robokind.api.motion.blending.FrameCombiner 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;

/**
 * A FrameCombiner combines movement requests from multiple FrameSources into a 
 * single set of Joint movements.
 * @param  MotionFrame type
 * @param  FrameSource type
 * @param  PositionMap type
 * 
 * @author Matthew Stevenson 
 */
public interface FrameCombiner<
        F extends MotionFrame, 
        B extends FrameSource, 
        PosMap extends JointPositionMap>{
    /**
     * Combines Frames from FrameSources into a map of Joint positions.
     * @param time time of the move request
     * @param interval time since last move request
     * @param curPos set of current Joint positions
     * @param frames map of Frames and their originating FrameSources
     * @return a map of Joint positions
     */
    public  PosMap combineFrames(long time, long interval, 
            PosMap curPos, Map frames);
}