Class 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
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
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail


public static final boolean DEBUG
Constructor Detail


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


public Vec2 Value(long timestamp)
Return a Vec2 representing the direction to go away from the detected hazards.
Value in class NodeVec2
timestamp - long, only get new information if timestamp > than last call or timestamp == -1.
the movement vector.