Class i_FSA_ba


public class i_FSA_ba
extends NodeInt

A Finite State Automoton that generates an integer output. While in the current state, if trigger[current_state][edge].Value() is true, the new state is follow_on[current_state][edge]. You must fill in the values of these arrays yourself. It is best to look at an example.

This node may be used to implement "Temporal Sequencing" as developed in the Mobile Robot Lab at Georgia Tech.

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

Field Summary
 int[][] follow_on
          The follow on states that triggers lead to.
static int MAX_STATES
          Maximum number of states.
 int state
          The initial state.
 NodeScalar[][] triggers
          The triggers that lead to new states.
Fields inherited from class
DEBUG, embedded_nodes
Constructor Summary
          Instantiate an FSA.
Method Summary
 int Value(long timestamp)
          Get the value of the node.
Methods inherited from class
booleanValue, doubleValue, intValue
Methods inherited from class
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail


public static final int MAX_STATES
Maximum number of states.


public int state
The initial state. Default is 0.


public NodeScalar[][] triggers
The triggers that lead to new states. Indexed as follows: trigger[current_state][edge].


public int[][] follow_on
The follow on states that triggers lead to. Indexed as follows: follow_on[current_state][edge]
Constructor Detail


public i_FSA_ba()
Instantiate an FSA. Configuration is by setting trigger and follow_on arrays.
Method Detail


public int Value(long timestamp)
Get the value of the node.
Value in class NodeInt
timestamp - long, the time of the request.