LinearInterpolationCommand.java

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package com.neuronrobotics.sdk.commands.cartesian;
 
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerMethod;
 
// TODO: Auto-generated Javadoc
public class LinearInterpolationCommand extends BowlerAbstractCommand {
 
    public LinearInterpolationCommand(TransformNR taskSpaceTransform, double mmOfFiliment, int ms, boolean forceNoBuffer) {
        setOpCode("_sli");
        setMethod(BowlerMethod.POST);
        getCallingDataStorage().add(forceNoBuffer?1:0);
        getCallingDataStorage().addAs32(ms);
        
        getCallingDataStorage().addAs32((int) (taskSpaceTransform.getX()*1000));
        getCallingDataStorage().addAs32((int) (taskSpaceTransform.getY()*1000));
        getCallingDataStorage().addAs32((int) (taskSpaceTransform.getZ()*1000));
        
        getCallingDataStorage().addAs32((int) (mmOfFiliment*1000));
 
 
    }
}