org.cogchar.bind.rk.gaze
Class GazeTargetMotionPlanner

java.lang.Object
  org.cogchar.bind.rk.gaze.GazeTargetMotionPlanner

All Implemented Interfaces:

GazePlanner<IGazeTarget,org.robokind.api.motion.Robot.RobotPositionMap>

public class GazeTargetMotionPlanner
extends Object
implements GazePlanner<IGazeTarget,org.robokind.api.motion.Robot.RobotPositionMap>

This class is a stub showing how a Java service approach to gaze planning is constructed.

Constructor Summary

GazeTargetMotionPlanner()

Method Summary

org.robokind.api.motion.Robot.RobotPositionMap

getMovements(long time, long interval, IGazeTarget tracker, org.robokind.api.motion.Robot.RobotPositionMap currentPos) Returns a set of goal positions to move towards over the given interval.

Methods inherited from class java.lang.Object

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

Constructor Detail

GazeTargetMotionPlanner

public GazeTargetMotionPlanner()

Method Detail

getMovements

public org.robokind.api.motion.Robot.RobotPositionMap getMovements(long time,
                                                                   long interval,
                                                                   IGazeTarget tracker,
                                                                   org.robokind.api.motion.Robot.RobotPositionMap currentPos)

Description copied from interface: GazePlanner

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

Specified by:

getMovements in interface GazePlanner<IGazeTarget,org.robokind.api.motion.Robot.RobotPositionMap>

Parameters:

time - the current time

interval - the expected length of the movement to plan

tracker - 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