EDU.gatech.cc.is.clay
Class i_FSA_ba

java.lang.Object
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  +--EDU.gatech.cc.is.clay.Node
        |
        +--EDU.gatech.cc.is.clay.NodeScalar
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              +--EDU.gatech.cc.is.clay.NodeInt
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                    +--EDU.gatech.cc.is.clay.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 EDU.gatech.cc.is.clay.Node
DEBUG, embedded_nodes
 
Constructor Summary
i_FSA_ba()
          Instantiate an FSA.
 
Method Summary
 int Value(long timestamp)
          Get the value of the node.
 
Methods inherited from class EDU.gatech.cc.is.clay.NodeInt
booleanValue, doubleValue, intValue
 
Methods inherited from class EDU.gatech.cc.is.clay.Node
initTrial
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

MAX_STATES

public static final int MAX_STATES
Maximum number of states.

state

public int state
The initial state. Default is 0.

triggers

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

follow_on

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

i_FSA_ba

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

Value

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