org.cogchar.bind.rk.gaze
Interface GazePlanner<Target,PosMap extends org.robokind.api.motion.protocol.JointPositionMap>

Type Parameters:

Target - Type of object the GazePlanner can move towards

PosMap - Type of JointPositionMap for current positions and returned movements. (usually a RobotPositionMap)

All Known Implementing Classes:

GazeTargetMotionPlanner

public interface GazePlanner<Target,PosMap extends org.robokind.api.motion.protocol.JointPositionMap>

A GazePlanner plans the movements towards a Target

Author:

Matthew Stevenson

Method Summary

PosMap

getMovements(long curTimeUTC, long intervalMilliSec, Target target, PosMap currentPos) Returns a set of goal positions to move towards over the given interval.

Method Detail

getMovements

PosMap getMovements(long curTimeUTC,
                    long intervalMilliSec,
                    Target target,
                    PosMap currentPos)

Returns a set of goal positions to move towards over the given interval.

Parameters:

curTimeUTC - the current time

intervalMilliSec - the expected length of the movement to plan

target - the target to move towards

currentPos - the Joint positions at the current time

Returns:

set of goal positions to move towards over the given interval