EDU.gatech.cc.is.clay
Class v_Intercept_v

java.lang.Object
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  +--EDU.gatech.cc.is.clay.Node
        |
        +--EDU.gatech.cc.is.clay.NodeVec2
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              +--EDU.gatech.cc.is.clay.v_Intercept_v

public class v_Intercept_v

extends NodeVec2

Generates a vector towards an intercept with a moving attractor. It infers the velocity of the attractor through observation. Thanks to Rob Orr for the idea.

For detailed information on how to configure behaviors, see the Clay page.

Copyright (c)1997, 1998 Tucker Balch

Field Summary

static boolean

DEBUG Turns debug printing on or off.

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

DEBUG, embedded_nodes

Constructor Summary

v_Intercept_v(double rm, NodeVec2 im1, NodeVec2 im2)
Instantiate a v_Intercept_v node.

Method Summary

Vec2	Value(long timestamp) Return a Vec2 representing the direction to go to intercept the attractor.

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

Turns debug printing on or off.

Constructor Detail

v_Intercept_v

public v_Intercept_v(double rm,
                     NodeVec2 im1,
                     NodeVec2 im2)

Instantiate a v_Intercept_v node.

Parameters:

rm - double, robot's max speed to compute the intercept.

im1 - NodeVec2, the embedded node that provides robot global position.

im2 - NodeVec2, the embedded node that provides an egocentric vector to the attractor.

Method Detail

Value

public Vec2 Value(long timestamp)

Return a Vec2 representing the direction to go to intercept the attractor. Return (0,0) if intercept is impossible, or attractor position is (0,0).

Overrides:

Value in class NodeVec2

Parameters:

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

Returns:

the movement vector.