EDU.gatech.cc.is.clay
Class v_LinearAttraction_va

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_LinearAttraction_va

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 original 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
          Turns debug printing on or off.
 
Fields inherited from class EDU.gatech.cc.is.clay.Node
DEBUG, embedded_nodes
 
Constructor Summary
v_LinearAttraction_va(double czr, double dzr, NodeVec2Array im1)
          Instantiate a v_LinearAttraction_va schema.
 
Method Summary
 Vec2 Value(long timestamp)
          Return a Vec2 representing the direction to go towards the goal.
 
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_LinearAttraction_va

public v_LinearAttraction_va(double czr,
                             double dzr,
                             NodeVec2Array im1)
Instantiate a v_LinearAttraction_va schema.
Parameters:
czr - double, controlled zone radius.
dzr - double, dead zone radius.
im1 - double, the node that generates a list of egocentric vectors to the goals.
Method Detail

Value

public Vec2 Value(long timestamp)
Return a Vec2 representing the direction to go towards the goal. Magnitude varies with distance.
Overrides:
Value in class NodeVec2
Parameters:
timestamp - long, only get new information if timestamp > than last call or timestamp == -1.
Returns:
the movement vector.