EDU.gatech.cc.is.clay
Class v_Noise_

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_Noise_

public class v_Noise_

extends NodeVec2

Generates a vector in a random direction for a specified time. This software module is based on the motor schema formulation developed by Ronald C. Arkin

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 Georgia Tech Research Corporation

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_Noise_(double t)
Instantiate an v_Noise_ schema.

v_Noise_(double t, long s)
Instantiate an v_Noise_ schema.

Method Summary

Vec2	Value(long timestamp) Return a Vec2 representing a random direction to go for a period of time.

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_Noise_

public v_Noise_(double t)

Instantiate an v_Noise_ schema.

Parameters:

t - double, how long the random direction should persist in seconds.

v_Noise_

public v_Noise_(double t,
                long s)

Instantiate an v_Noise_ schema.

Parameters:

t - double, how long the random direction should persist in seconds.

s - long, the random number seed.

Method Detail

Value

public Vec2 Value(long timestamp)

Return a Vec2 representing a random direction to go for a period of time.

Overrides:

Value in class NodeVec2

Parameters:

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

Returns:

the movement vector.