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Class EDU.gatech.cc.is.clay.v_Intercept_v

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

public class v_Intercept_v
extends NodeVec2
Generates a vector towards an intercept with a moving attractor. It infers the velocity of the attractor through observation. Thanks to Rob Orr for the idea.

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_Intercept_v(double, NodeVec2, NodeVec2)
Instantiate a v_Intercept_v node.

Method Index

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

Variables

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

Constructors

 o v_Intercept_v
 public v_Intercept_v(double rm,
                      NodeVec2 im1,
                      NodeVec2 im2)
Instantiate a v_Intercept_v node.

Parameters:
rm - double, robot's max speed to compute the intercept.
im1 - NodeVec2, the embedded node that provides robot global position.
im2 - NodeVec2, the embedded node that provides an egocentric vector to the attractor.

Methods

 o Value
 public Vec2 Value(long timestamp)
Return a Vec2 representing the direction to go to intercept the attractor. Return (0,0) if intercept is impossible, or attractor position is (0,0).

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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