- public class v_LinearAttraction_va
- extends NodeVec2
Generates a vector towards a multiple goal locations
that varies with distance from the goals. The attraction is
increased linearly at greater distances. Based on Arkin's
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_va(double czr,
- Instantiate a v_LinearAttraction_va schema.
czr - double, controlled zone radius.
dzr - double, dead zone radius.
im1 - double, the node that generates a list of
egocentric vectors to the goals.
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.