EDU.gatech.cc.is.clay
Class v_Avoid_v

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_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

Field Summary

static boolean

DEBUG

Fields inherited from class EDU.gatech.cc.is.clay.Node

DEBUG, embedded_nodes

Constructor Summary

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

Method Summary

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

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

DEBUG

public static final boolean DEBUG

Constructor Detail

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

Method Detail

Value

public Vec2 Value(long timestamp)

Return a Vec2 representing the direction to go away from the detected hazards.

Overrides:

Value in class NodeVec2

Parameters:

timestamp - long, only get new information if timestamp > than last call or timestamp == -1.

Returns:

the movement vector.