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

BasicInterpolator(EfferentCommandHandler handler, IActuator actualActuator, IActuatorCompletion completion)

Method Summary

void	abort(IAgentObject agent, MovementCommand command)
void	start(IAgentObject agent, MovementCommand command)
double	update(double currentTime) update all the pending movements.

Methods inherited from class java.lang.Object

equals, 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

start

public void start(IAgentObject agent,
                  MovementCommand command)

Specified by:

start in interface IInterpolator

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: