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Class EDU.gatech.cc.is.clay.i_FSA_ba

java.lang.Object
   |
   +----EDU.gatech.cc.is.clay.Node
           |
           +----EDU.gatech.cc.is.clay.NodeScalar
                   |
                   +----EDU.gatech.cc.is.clay.NodeInt
                           |
                           +----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

Variable Index

 o follow_on
The follow on states that triggers lead to.
 o MAX_STATES
Maximum number of states.
 o state
The initial state.
 o triggers
The triggers that lead to new states.

Constructor Index

 o i_FSA_ba()
Instantiate an FSA.

Method Index

 o Value(long)
Get the value of the node.

Variables

 o MAX_STATES
 public static final int MAX_STATES
Maximum number of states.

 o state
 public int state
The initial state. Default is 0.

 o triggers
 public NodeScalar triggers[][]
The triggers that lead to new states. Indexed as follows: trigger[current_state][edge].

 o follow_on
 public int follow_on[][]
The follow on states that triggers lead to. Indexed as follows: follow_on[current_state][edge]

Constructors

 o i_FSA_ba
 public i_FSA_ba()
Instantiate an FSA. Configuration is by setting trigger and follow_on arrays.

Methods

 o 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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