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Class EDU.gatech.cc.is.clay.v_Avoid_v

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

public class v_Avoid_v
extends NodeVec2
This node (motor schema) generates a vector away from a single hazard. Magnitude varies from 0 to 1. 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

Constructor Index

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

Method Index

 o Value(long)
Return a Vec2 representing the direction to go away from the detected hazards.

Variables

 o DEBUG
 public static final boolean DEBUG

Constructors

 o v_Avoid_v
 public v_Avoid_v(double soe,
                  double s,
                  NodeVec2 im1)
Instantiate a v_Avoid_v schema.

Parameters:
soe - double, the sphere of influence beyond which the hazards are not considered.
s - double, the safety zone, inside of which a maximum repulsion from the object is generated.
im1 - NodeVec2, the embedded node that generates an item

Methods

 o Value
 public Vec2 Value(long timestamp)
Return a Vec2 representing the direction to go away from the detected hazards.

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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