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Class EDU.gatech.cc.is.clay.v_LinearAttraction_v

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

public class v_LinearAttraction_v
extends NodeVec2
Generates a vector towards a goal location that varies with distance from the goal. The attraction is increased linearly at greater distances. Based on Arkin's formulation.

Arkin's original formulation is 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
Turns debug printing on or off.

Constructor Index

 o v_LinearAttraction_v(double, double, NodeVec2)
Instantiate a v_LinearAttraction_v schema.

Method Index

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

Variables

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

Constructors

 o v_LinearAttraction_v
 public v_LinearAttraction_v(double czr,
                             double dzr,
                             NodeVec2 im1)
Instantiate a v_LinearAttraction_v schema.

Parameters:
czr - double, controlled zone radius.
dzr - double, dead zone radius.
im1 - double, the node that generates an egocentric vector to the goal.

Methods

 o Value
 public Vec2 Value(long timestamp)
Return a Vec2 representing the direction to go towards the goal. Magnitude varies with distance.

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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