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Class EDU.gatech.cc.is.clay.v_LinearAttraction_va
java.lang.Object
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+----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_LinearAttraction_va
- public class v_LinearAttraction_va
- extends NodeVec2
Generates a vector towards a multiple goal locations
that varies with distance from the goals. The attraction is
increased linearly at greater distances. Based on Arkin's
original 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
-
DEBUG
- Turns debug printing on or off.
-
v_LinearAttraction_va(double, double, NodeVec2Array)
- Instantiate a v_LinearAttraction_va schema.
-
Value(long)
- Return a Vec2 representing the direction to go towards the
goal.
DEBUG
public static final boolean DEBUG
- Turns debug printing on or off.
v_LinearAttraction_va
public v_LinearAttraction_va(double czr,
double dzr,
NodeVec2Array im1)
- Instantiate a v_LinearAttraction_va schema.
- Parameters:
- czr - double, controlled zone radius.
- dzr - double, dead zone radius.
- im1 - double, the node that generates a list of
egocentric vectors to the goals.
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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