org.commonreality.sensors.motor.interpolator

Class BasicInterpolator

java.lang.Object

org.commonreality.sensors.motor.interpolator.BasicInterpolator

All Implemented Interfaces:

IInterpolator

public class BasicInterpolator
extends java.lang.Object
implements IInterpolator

Author:

harrison

Constructor Summary

Constructors

Constructor and Description
BasicInterpolator(EfferentCommandHandler handler, IActuator actualActuator, IActuatorCompletion completion)

Method Summary

Modifier and Type	Method and Description
void	abort(IAgentObject agent, MovementCommand command)
protected org.commonreality.sensors.motor.interpolator.BasicInterpolator.AgentCommands	getAgentCommands(IIdentifier agentId, boolean create)
protected java.util.Collection<IIdentifier>	getRelevantAgentIdentifiers()
void	start(IAgentObject agent, MovementCommand command)
protected void	startInternal(IAgentObject agent, MovementCommand command, double startTimeShift)
double	update(double currentTime) update all the pending movements.
protected DeltaTracker<IMutableObject>	updateEvent(InterpolatorEvent event, org.commonreality.sensors.motor.interpolator.BasicInterpolator.AgentCommands agentCommands, double currentTime) this is the code that actually updates the effernt objects

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

BasicInterpolator

public BasicInterpolator(EfferentCommandHandler handler,
                         IActuator actualActuator,
                         IActuatorCompletion completion)

Method Detail

abort

public void abort(IAgentObject agent,
                  MovementCommand command)

Specified by:

abort in interface IInterpolator

getAgentCommands

protected org.commonreality.sensors.motor.interpolator.BasicInterpolator.AgentCommands getAgentCommands(IIdentifier agentId,
                                                                                                        boolean create)

getRelevantAgentIdentifiers

protected java.util.Collection<IIdentifier> getRelevantAgentIdentifiers()

start

public void start(IAgentObject agent,
                  MovementCommand command)

Specified by:

start in interface IInterpolator

startInternal

protected void startInternal(IAgentObject agent,
                             MovementCommand command,
                             double startTimeShift)

Parameters:

agent -

command -

startTimeShift - if this is for a component of a composite command, the startTimeShift will be the start time of the parent.

update

public double update(double currentTime)

Description copied from interface: IInterpolator

update all the pending movements. the value returned is the time of the next start/complete of the earliest event. It will return NaN if there are no events pending

Specified by:

update in interface IInterpolator

Returns:

updateEvent

protected DeltaTracker<IMutableObject> updateEvent(InterpolatorEvent event,
                                                   org.commonreality.sensors.motor.interpolator.BasicInterpolator.AgentCommands agentCommands,
                                                   double currentTime)

this is the code that actually updates the effernt objects

Parameters:

event -

agentCommands -

currentTime -