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Class EDU.gatech.cc.is.clay.v_Intercept_v
java.lang.Object
|
+----EDU.gatech.cc.is.clay.Node
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+----EDU.gatech.cc.is.clay.NodeVec2
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+----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
-
DEBUG
- Turns debug printing on or off.
-
v_Intercept_v(double, NodeVec2, NodeVec2)
- Instantiate a v_Intercept_v node.
-
Value(long)
- Return a Vec2 representing the direction to go to intercept the
attractor.
DEBUG
public static final boolean DEBUG
- Turns debug printing on or off.
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.
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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