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Class EDU.gatech.cc.is.clay.v_Swirl_vav

java.lang.Object
   |
   +----EDU.gatech.cc.is.clay.Node
           |
           +----EDU.gatech.cc.is.clay.NodeVec2
                   |
                   +----EDU.gatech.cc.is.clay.v_Swirl_vav

public class v_Swirl_vav
extends NodeVec2
Generate a vector that swirls to one side or the other of detected hazards. One embedded node provides a list of hazards, the other points in the reference direction (typically a goal location).

The "swirl" behavior was originally developed by Andy Henshaw and Tom Collins at the Georgia Tech Research Institute. It is also similar to Marc Slack's NATs.

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

Variable Index

 o DEBUG
Turn debug printing on or off.

Constructor Index

 o v_Swirl_vav(double, double, NodeVec2Array, NodeVec2)
Instantiate a v_Swirl_vav schema.

Method Index

 o Value(long)
Return a Vec2 representing the direction to go.

Variables

 o DEBUG
 public static final boolean DEBUG
Turn debug printing on or off.

Constructors

 o v_Swirl_vav
 public v_Swirl_vav(double soe,
                    double s,
                    NodeVec2Array im1,
                    NodeVec2 im2)
Instantiate a v_Swirl_vav schema.

Parameters:
soe - double, the sphere of influence beyond which the hazards are not considered.
s - double, the safety zone, inside of which a maximum repulsion from the object is generated.
im1 - NodeVec2Array, the embedded perceptual schema that generates a list of items to avoid.
im2 - NodeVec2, the embedded perceptual schema that generates a pointer to the goal (must be egocentric).

Methods

 o Value
 public Vec2 Value(long timestamp)
Return a Vec2 representing the direction to go.

Parameters:
timestamp - long, only get new information if timestamp > than last call or timestamp == -1.
Returns:
the movement vector.
Overrides:
Value in class NodeVec2

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