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Class EDU.gatech.cc.is.clay.i_FSA_ba
java.lang.Object
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+----EDU.gatech.cc.is.clay.Node
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+----EDU.gatech.cc.is.clay.NodeScalar
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+----EDU.gatech.cc.is.clay.NodeInt
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+----EDU.gatech.cc.is.clay.i_FSA_ba
- public class i_FSA_ba
- extends NodeInt
A Finite State Automoton that generates an integer output.
While in the current state, if trigger[current_state][edge].Value()
is true, the new state is follow_on[current_state][edge].
You must fill in the values of these arrays yourself. It is
best to look at an example.
This node may be used to implement "Temporal Sequencing" as
developed in the Mobile Robot Lab at Georgia Tech.
The source code in this module is based on "first principles"
(e.g. published papers) and is not derived from any previously
existing software.
For detailed information on how to configure behaviors, see the
Clay page.
Copyright
(c)1997, 1998 Tucker Balch
- Version:
- $Revision: 1.2 $
- Author:
- Tucker Balch
-
follow_on
- The follow on states that triggers lead to.
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MAX_STATES
- Maximum number of states.
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state
- The initial state.
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triggers
- The triggers that lead to new states.
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i_FSA_ba()
- Instantiate an FSA.
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Value(long)
- Get the value of the node.
MAX_STATES
public static final int MAX_STATES
- Maximum number of states.
state
public int state
- The initial state. Default is 0.
triggers
public NodeScalar triggers[][]
- The triggers that lead to new states. Indexed as follows:
trigger[current_state][edge].
follow_on
public int follow_on[][]
- The follow on states that triggers lead to. Indexed as follows:
follow_on[current_state][edge]
i_FSA_ba
public i_FSA_ba()
- Instantiate an FSA. Configuration is by setting
trigger and follow_on arrays.
Value
public int Value(long timestamp)
- Get the value of the node.
- Parameters:
- timestamp - long, the time of the request.
- Overrides:
- Value in class NodeInt
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