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Class EDU.gatech.cc.is.clay.v_Swirl_vav
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_Swirl_vav
- public class v_Swirl_vav
- extends NodeVec2
Generate a
vector that swirls to one side or the other of detected hazards.
One embedded node provides a list of hazards, the other points
in the reference direction (typically a goal location).
The "swirl" behavior was originally developed by
Andy Henshaw and Tom Collins at the Georgia Tech Research Institute.
It is also similar to Marc Slack's NATs.
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
- Turn debug printing on or off.
-
v_Swirl_vav(double, double, NodeVec2Array, NodeVec2)
- Instantiate a v_Swirl_vav schema.
-
Value(long)
- Return a Vec2 representing the direction to go.
DEBUG
public static final boolean DEBUG
- Turn debug printing on or off.
v_Swirl_vav
public v_Swirl_vav(double soe,
double s,
NodeVec2Array im1,
NodeVec2 im2)
- Instantiate a v_Swirl_vav 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 - NodeVec2Array, the embedded perceptual schema that generates a list
of items to avoid.
- im2 - NodeVec2, the embedded perceptual schema that generates a pointer
to the goal (must be egocentric).
Value
public Vec2 Value(long timestamp)
- Return a Vec2 representing the direction to go.
- 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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