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Class EDU.gatech.cc.is.clay.v_StaticWeightedSum_va

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

public class v_StaticWeightedSum_va
extends NodeVec2
Combine an array of embedded schemas using static weights set at configuration time. Configuration is done by setting the values of the embedded[] and weights[] arrays.

This software module is based on the motor schema formulation developed by Ronald C. Arkin described in "Motor Schema Based Mobile Robot Navigation," International Journal of Robotics Research, vol. 8, no 4, pp 92-112.

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 DEBUG
Turn debug printing on or off.
 o embedded
The embedded nodes to multiply by the weights and sum.
 o MAX_COMPONENTS
Maximum number of components of an v_StaticWeightedSum_va node.
 o weights
The weights to multiply the nodes by.

Constructor Index

 o v_StaticWeightedSum_va()
Instantiate a v_StaticWeightedSum_va node.

Method Index

 o Value(long)
Return a Vec2 representing the weighted sum of the embedded nodes.

Variables

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

 o MAX_COMPONENTS
 public static final int MAX_COMPONENTS
Maximum number of components of an v_StaticWeightedSum_va node.

 o embedded
 public NodeVec2 embedded[]
The embedded nodes to multiply by the weights and sum.

 o weights
 public double weights[]
The weights to multiply the nodes by.

Constructors

 o v_StaticWeightedSum_va
 public v_StaticWeightedSum_va()
Instantiate a v_StaticWeightedSum_va node.

Methods

 o Value
 public Vec2 Value(long timestamp)
Return a Vec2 representing the weighted sum of the embedded nodes.

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

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