- public class v_LinearAttraction_v
- extends NodeVec2
Generates a vector towards a goal location
that varies with distance from the goal. The attraction is
increased linearly at greater distances. Based on
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
For detailed information on how to configure behaviors, see the
(c)1997, 1998 Tucker Balch
Turns debug printing on or off.
Return a Vec2 representing the direction to go towards the
|Methods inherited from class EDU.gatech.cc.is.clay.Node
|Methods inherited from class java.lang.Object
public static final boolean DEBUG
- Turns debug printing on or off.
public v_LinearAttraction_v(double czr,
- Instantiate a v_LinearAttraction_v schema.
czr - double, controlled zone radius.
dzr - double, dead zone radius.
im1 - double, the node that generates an
egocentric vector to the goal.
public Vec2 Value(long timestamp)
- Return a Vec2 representing the direction to go towards the
goal. Magnitude varies with distance.
- Value in class NodeVec2
timestamp - long, only get new information if timestamp > than last call
or timestamp == -1.
- the movement vector.